Brief Announcement Forgive & Forget: Self-stabilizing Swarms in Spite of Byzantine Robots

  • Yotam Ashkenazi
  • Shlomi DolevEmail author
  • Sayaka Kamei
  • Fukuhito Ooshita
  • Koichi Wada
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11914)


In this paper, we consider the case in which a swarm of robots collaborates in a mission, where a few of the robots behave maliciously. These malicious Byzantine robots may be temporally or constantly controlled by an adversary. The scope is synchronized full information robot operations, where a robot that does not follow the program/policy of the swarm is immediately identified and can be remembered as Byzantine. As robots may be suspected of being Byzantine due to benign temporal malfunctions, it is imperative to Forgive & Forget (F&F), otherwise, a robot cannot assume collaborative actions with any other robot in the swarm. Still, remembering for a while may facilitate a policy of surrounding, isolating and freezing the movement of the misbehaving robots, by several robots, allowing the rest to perform the swarm task with no intervention.

We demonstrate the need to periodically F&F to realize swarm several tasks including patrolling/cleaning in the presence of possible Byzantine robots. The policy for achieving the task consists of blocking the movement of the Byzantine robot(s) by some of the robots, while the rest patrol/clean the plane.


  1. 1.
    Ashkenazi, Y., et al.: Forgive & Forget: self-stabilizing swarms in spite of Byzantine robots. Department of Computer Science BGU, Technical report #04-19 (2019).

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yotam Ashkenazi
    • 1
  • Shlomi Dolev
    • 1
    Email author
  • Sayaka Kamei
    • 2
  • Fukuhito Ooshita
    • 3
  • Koichi Wada
    • 4
  1. 1.Department of Computer ScienceBen-Gurion University of the NegevBe’er ShevaIsrael
  2. 2.Department of Information Engineering, Graduate School of EngineeringHiroshima UniversityHigashihiroshimaJapan
  3. 3.Graduate School of Science and TechnologyNara Institute of Science and TechnologyIkomaJapan
  4. 4.Department of Applied Informatics, Faculty of Science and EngineeringHosei UniversityTokyoJapan

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