Exact Byzantine consensus problem requires that non-faulty processes reach agreement on a decision (or output) that is in the convex hull of the inputs at the non-faulty processes. It is well-known that exact consensus is impossible in an asynchronous system in presence of faults, and in a synchronous system, n>=3f+1 is tight on the number of processes to achieve exact Byzantine consensus with scalar inputs, in presence of up to f Byzantine faulty processes. Recent work has shown that when the inputs are d-dimensional vectors of reals, n>=max(3f+1,(d+1)f+1) is tight to achieve exact Byzantine consensus in synchronous systems, and n>= (d+2)f+1 for approximate Byzantine consensus in asynchronous systems. Due to the dependence of the lower bound on vector dimension d, the number of processes necessary becomes large when the vector dimension is large. With the hope of reducing the lower bound on n, we consider two relaxed versions of Byzantine vector consensus: k-Relaxed Byzantine vector consensus and (delta,p)-Relaxed Byzantine vector consensus. In k-relaxed consensus, the validity condition requires that the output must be in the convex hull of projection of the inputs onto any subset of k-dimensions of the vectors. For (delta,p)-consensus the validity condition requires that the output must be within distance delta of the convex hull of the inputs of the non-faulty processes, where L_p norm is used as the distance metric. For (delta,p)-consensus, we consider two versions: in one version, delta is a constant, and in the second version, delta is a function of the inputs themselves. We show that for k-relaxed consensus and (delta,p)-consensus with constant delta>=0, the bound on n is identical to the bound stated above for the original vector consensus problem. On the other hand, when delta depends on the inputs, we show that the bound on n is smaller when d>=3.
The necessary and sufficient condition for consensus in presense of Byzantine failure under various underlying network conditions is extensively studied in the literature. Lamport, Shostak and Pease @cite_8 developed the initial results on Byzantine fault-tolerant agreement. The FLP result @cite_16 showed that exact consensus is impossible even under single process failure in asynchronous systems. To circumvent this obstacle, @cite_7 proposed approximate consensus for asynchronous systems.
@cite_16 @cite_7 @cite_8
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Consider a network of n processes each of which has a d-dimensional vector of reals as its input. Each process can communicate directly with all the processes in the system; thus the communication network is a complete graph. All the communication channels are reliable and FIFO (first-in-first-out). The problem of Byzantine vector consensus (BVC) requires agreement on a d-dimensional vector that is in the convex hull of the d-dimensional input vectors at the non-faulty processes. We obtain the following results for Byzantine vector consensus in complete graphs while tolerating up to f Byzantine failures: * We prove that in a synchronous system, n >= max(3f+1, (d+1)f+1) is necessary and sufficient for achieving Byzantine vector consensus. * In an asynchronous system, it is known that exact consensus is impossible in presence of faulty processes. For an asynchronous system, we prove that n >= (d+2)f+1 is necessary and sufficient to achieve approximate Byzantine vector consensus. Our sufficiency proofs are constructive. We show sufficiency by providing explicit algorithms that solve exact BVC in synchronous systems, and approximate BVC in asynchronous systems. We also obtain tight bounds on the number of processes for achieving BVC using algorithms that are restricted to a simpler communication pattern. This paper investigates the task solvability of mobile robot systems subject to Byzantine faults. We first consider the gathering problem, which requires all robots to meet in finite time at a non-predefined location. It is known that the solvability of Byzantine gathering strongly depends on a number of system attributes, such as synchrony, the number of Byzantine robots, scheduling strategy, obliviousness, orientation of local coordinate systems and so on. However, the complete characterization of the attributes making Byzantine gathering solvable still remains open. In this paper, we show strong impossibility results of Byzantine gathering. Namely, we prove that Byzantine gathering is impossible even if we assume one Byzantine fault, an atomic execution system, the n-bounded centralized scheduler, non-oblivious robots, instantaneous movements and a common orientation of local coordinate systems (where n denote the number of correct robots). Those hypotheses are much weaker than used in previous work, inducing a much stronger impossibility result. At the core of our impossibility result is a reduction from the distributed consensus problem in asynchronous shared-memory systems. In more details, we newly construct a generic reduction scheme based on the distributed BG-simulation. Interestingly, because of its versatility, we can easily extend our impossibility result for general pattern formation problems. This work addresses Byzantine vector consensus, wherein the input at each process is a d-dimensional vector of reals, and each process is required to decide on a decision vector that is in the convex hull of the input vectors at the fault-free processes [9,12]. The input vector at each process may also be viewed as a point in the d-dimensional Euclidean space R d , where di¾?>i¾?0 is a finite integer. Recent work [9,12] has addressed Byzantine vector consensus, and presented algorithms with optimal fault tolerance in complete graphs. This paper considers Byzantine vector consensus in incomplete graphs using a restricted class of iterative algorithms that maintain only a small amount of memory across iterations. For such algorithms, we prove a necessary condition, and a sufficient condition, for the graphs to be able to solve the vector consensus problem iteratively. We present an iterative Byzantine vector consensus algorithm, and prove it correct under the sufficient condition. The necessary condition presented in this paper for vector consensus does not match with the sufficient condition for di¾?>i¾?1; thus, a weaker condition may potentially suffice for Byzantine vector consensus. The condition-based approach identifies sets of input vectors, called conditions, for which it is possible to design an asynchronous protocol solving a distributed problem despite process crashes. This paper establishes a direct correlation between distributed agreement problems and error-correcting codes. In particular, crash failures in distributed agreement problems correspond to erasure failures in error-correcting codes and Byzantine and value domain faults correspond to corruption errors. This correlation is exemplified by concentrating on two well-known agreement problems, namely, consensus and interactive consistency, in the context of the condition-based approach. Specifically, the paper presents the following results: first, it shows that the conditions that allow interactive consistency to be solved despite fc crashes and fc value domain faults correspond exactly to the set of error-correcting codes capable of recovering from fc erasures and fc corruptions. Second, the paper proves that consensus can be solved despite fc crash failures if the condition corresponds to a code whose Hamming distance is fc + 1 and Byzantine consensus can be solved despite fb Byzantine faults if the Hamming distance of the code is 2 fb + 1. Finally, the paper uses the above relations to establish several results in distributed agreement that are derived from known results in error-correcting codes and vice versa.