Fault-tolerant and Self-stabilizing Mobile Robots Gathering - Feasibility StudyReport as inadecuate

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1 JAIST - Japan Advanced Institute of Science and Technology 2 ADEPT - Algorithms for Dynamic Dependable Systems IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, INRIA Rennes 3 LRI - Laboratoire de Recherche en Informatique

Abstract : Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial location and no initial agreement on a global coordinate system, gathering requires that all robots, following their algorithm, reach the exact same but not predetermined location. In this paper, we significantly extend the studies of deterministic gathering feasibility under different assumptions related to synchrony and faults crash and Byzantine. Unlike prior work, we consider a larger set of scheduling strategies, such as bounded schedulers, and derive interesting lower bounds on these schedulers. In addition, we extend our study to the feasibility of probabilistic gathering in both fault-free and fault-prone environments. To the best of our knowledge our work is the first to address the gathering from a probabilistic point of view. \\ Nous étudions la faisabilité deterministe et probabiliste du problème de rassemblement d-un ensemble de robots mobiles. Dans le modèle considéré les robots peuvent exhiber un comportement byzantin.

Keywords : Fault-tolerance self-stabilization self-organization impossibility results deterministic gathering probabilistic gathering \\ Rassemblement réparti robots mobiles fautes byzantines tolerance aux fautes auto-stabilisation

Author: Xavier Défago - Maria Gradinariu - Stéphane Messika - Philippe Raïpin-Parvédy -

Source: https://hal.archives-ouvertes.fr/


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