Distributed computing models typically assume reliable communication between processors. While such assumptions often hold for engineered networks, e.g., due to underlying error correction protocols, their relevance to biological systems, wherein messages are often distorted before reaching their destination, is quite limited. In this study we aim at bridging this gap by rigorously analyzing a model of communication in large anonymous populations composed of simple agents which interact through short and highly unreliable messages. We focus on the rumor-spreading problem and the majority-consensus problem, two fundamental tasks in distributed computing, and initiate their study under communication noise. Our model for communication is extremely weak and follows the push gossip communication paradigm: In each synchronous round each agent that wishes to send information delivers a message to a random anonymous agent. This communication is further restricted to contain only one bit (essentially representing an opinion). Lastly, the system is assumed to be so noisy that the bit in each message sent is flipped independently with probability 1 2-e, for some small Ae >0. Even in this severely restricted, stochastic and noisy setting we give natural protocols that solve the noisy rumor-spreading and the noisy majority-consensus problems efficiently. Our protocols run in O(log n e2) rounds and use O(n log n e2) messages bits in total, where n is the number of agents. These bounds are asymptotically optimal and, in fact, are as fast and message efficient as if each agent would have been simultaneously informed directly by the source. Our efficient, robust, and simple algorithms suggest balancing between silence and transmission, synchronization, and majority-based decisions as important ingredients towards understanding collective communication schemes in anonymous and noisy populations.
Our paper falls within the scope of natural algorithms, a recent attempt to investigate biological phenomena from an algorithmic perspective @cite_53 @cite_22 @cite_2 @cite_27 @cite_37 @cite_52 . Within this framework, many works in the computer science discipline have studied different computational aspects of abstract systems composed of simple and restricted individuals. This includes, in particular, the study of population protocols @cite_26 @cite_36 @cite_13 @cite_44 @cite_23 , which considers individuals with constant memory size interacting in pairs (using constant size messages) in a communication pattern which is either uniformly at random or adversarial, and the beeping model @cite_53 @cite_11 @cite_5 , which assumes a fixed network with extremely restricted communication. However, despite interesting results obtained in such models, the understanding of their fault-tolerance aspects is still lacking @cite_13 @cite_44 . Here, we study basic distributed tasks in a model that includes highly restricted noisy communication.
@cite_37 @cite_26 @cite_22 @cite_36 @cite_53 @cite_52 @cite_44 @cite_27 @cite_23 @cite_2 @cite_5 @cite_13 @cite_11
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We use distributed computing tools to provide a new perspective on the behavior of cooperative biological ensembles. We introduce the Ants Nearby Treasure Search (ANTS) problem, a generalization of the classical cow-path problem [10, 20, 41, 42], which is relevant for collective foraging in animal groups. In the ANTS problem, k identical (probabilistic) agents, initially placed at some central location, collectively search for a treasure in the two-dimensional plane. The treasure is placed at a target location by an adversary and the goal is to find it as fast as possible as a function of both k and D, where D is the distance between the central location and the target. This is biologically motivated by cooperative, central place foraging, such as performed by ants around their nest. In this type of search there is a strong preference to locate nearby food sources before those that are further away. We focus on trying to find what can be achieved if communication is limited or altogether absent. Indeed, to avoid overlaps agents must be highly dispersed making communication difficult. Furthermore, if the agents do not commence the search in synchrony, then even initial communication is problematic. This holds, in particular, with respect to the question of whether the agents can communicate and conclude their total number, k. It turns out that the knowledge of k by the individual agents is crucial for performance. Indeed, it is a straightforward observation that the time required for finding the treasure is Ω(D + D2 k), and we show in this paper that this bound can be matched if the agents have knowledge of k up to some constant approximation. We present a tight bound for the competitive penalty that must be paid, in the running time, if the agents have no information about k. Specifically, this bound is slightly more than logarithmic in the number of agents. In addition, we give a lower bound for the setting in which the agents are given some estimation of k. Informally, our results imply that the agents can potentially perform well without any knowledge of their total number k, however, to further improve, they must use some information regarding k. Finally, we propose a uniform algorithm that is both efficient and extremely simple, suggesting its relevance for actual biological scenarios. The computational power of networks of small resource-limited mobile agents is explored. Two new models of computation based on pairwise interactions of finite-state agents in populations of finite but unbounded size are defined. With a fairness condition on interactions, the concept of stable computation of a function or predicate is defined. Protocols are given that stably compute any predicate in the class definable by formulas of Presburger arithmetic, which includes Boolean combinations of threshold-k, majority, and equivalence modulo m. All stably computable predicates are shown to be in NL. Assuming uniform random sampling of interacting pairs yields the model of conjugating automata. Any counter machine with O (1) counters of capacity O (n) can be simulated with high probability by a conjugating automaton in a population of size n. All predicates computable with high probability in this model are shown to be in P; they can also be computed by a randomized logspace machine in exponential time. Several open problems and promising future directions are discussed. Swarm formation and swarm flocking may conflict each other. Without explicit communication, such conflicts may lead to undesired topological changes since there is no global signal that facilitates coordinated and safe switching from one behavior to the other. Moreover, without coordination signals multiple swarm members might simultaneously assume leadership, and their conflicting leading directions are likely to prevent successful flocking. To the best of our knowledge, we present the first set of swarm flocking algorithms that maintain connectivity while electing direction for flocking, under conditions of no communication. The algorithms allow spontaneous direction requests and support direction changes. Population protocols are used as a theoretical model for a collection (or population) of tiny mobile agents that interact with one another to carry out a computation. The agents are identically programmed finite state machines. Input values are initially distributed to the agents, and pairs of agents can exchange state information with other agents when they are close together. The movement pattern of the agents is unpredictable, but subject to some fairness constraints, and computations must eventually converge to the correct output value in any schedule that results from that movement. This framework can be used to model mobile ad hoc networks of tiny devices or collections of molecules undergoing chemical reactions. This chapter surveys results that describe what can be computed in various versions of the population protocol model. Computational and biological systems are often distributed so that processors (cells) jointly solve a task, without any of them receiving all inputs or observing all outputs. Maximal independent set (MIS) selection is a fundamental distributed computing procedure that seeks to elect a set of local leaders in a network. A variant of this problem is solved during the development of the fly’s nervous system, when sensory organ precursor (SOP) cells are chosen. By studying SOP selection, we derived a fast algorithm for MIS selection that combines two attractive features. First, processors do not need to know their degree; second, it has an optimal message complexity while only using one-bit messages. Our findings suggest that simple and efficient algorithms can be developed on the basis of biologically derived insights. Evolutionary dynamics has been traditionally studied in the context of homogeneous populations, mainly described by the Moran process [P. Moran, Random processes in genetics, Proceedings of the Cambridge Philosophical Society 54 (1) (1958) 60-71]. Recently, this approach has been generalized in [E. Lieberman, C. Hauert, M.A. Nowak, Evolutionary dynamics on graphs, Nature 433 (2005) 312-316] by arranging individuals on the nodes of a network (in general, directed). In this setting, the existence of directed arcs enables the simulation of extreme phenomena, where the fixation probability of a randomly placed mutant (i.e., the probability that the offspring of the mutant eventually spread over the whole population) is arbitrarily small or large. On the other hand, undirected networks (i.e., undirected graphs) seem to have a smoother behavior, and thus it is more challenging to find suppressors amplifiers of selection, that is, graphs with smaller greater fixation probability than the complete graph (i.e., the homogeneous population). In this paper we focus on undirected graphs. We present the first class of undirected graphs which act as suppressors of selection, by achieving a fixation probability that is at most one half of that of the complete graph, as the number of vertices increases. Moreover, we provide some generic upper and lower bounds for the fixation probability of general undirected graphs. As our main contribution, we introduce the natural alternative of the model proposed in [E. Lieberman, C. Hauert, M.A. Nowak, Evolutionary dynamics on graphs, Nature 433 (2005) 312-316]. In our new evolutionary model, all individuals interact simultaneously and the result is a compromise between aggressive and non-aggressive individuals. We prove that our new model of mutual influences admits a potential function, which guarantees the convergence of the system for any graph topology and any initial fitness vector of the individuals. Furthermore, we prove fast convergence to the stable state for the case of the complete graph, as well as we provide almost tight bounds on the limit fitness of the individuals. Apart from being important on its own, this new evolutionary model appears to be useful also in the abstract modeling of control mechanisms over invading populations in networks. We demonstrate this by introducing and analyzing two alternative control approaches, for which we bound the time needed to stabilize to the ''healthy'' state of the system. Developing self-stabilizing solutions is considered to be more challenging and complicated than developing classical solutions, where a proper initialization of the variables can be assumed. This remark holds for a large variety of models. Hence, to ease the task of the developers, some automatic techniques have been proposed to design self-stabilizing algorithms. In this paper, we propose an automatic transformer for algorithms in population protocols model . This model introduced recently for networks with a large number of resource-limited mobile agents. For our purposes, we use a variant of this model. Mainly, we assume agents having characteristics (e.g., moving speed, communication radius) affecting their intercommunication "speed" and considered through the notion of cover time . The automatic transformer takes as an input an algorithm solving a static problem and outputs a self-stabilizing algorithm for the same problem. We prove that our transformer is correct and we analyze its stabilization complexity. Initial knowledge regarding group size can be crucial for collective performance. We study this relation in the context of the Ants Nearby Treasure Search (ANTS) problem [18], which models natural cooperative foraging behavior such as that performed by ants around their nest. In this problem, k (probabilistic) agents, initially placed at some central location, collectively search for a treasure on the two-dimensional grid. The treasure is placed at a target location by an adversary and the goal is to find it as fast as possible as a function of both k and D, where D is the (unknown) distance between the central location and the target. It is easy to see that T=Ω(D+D2 k) time units are necessary for finding the treasure. Recently, it has been established that O(T) time is sufficient if the agents know their total number k (or a constant approximation of it), and enough memory bits are available at their disposal [18]. In this paper, we establish lower bounds on the agent memory size required for achieving certain running time performances. To the best our knowledge, these bounds are the first non-trivial lower bounds for the memory size of probabilistic searchers. For example, for every given positive constant e, terminating the search by time O(log1−ek ·T) requires agents to use Ω(loglogk) memory bits. From a high level perspective, we illustrate how methods from distributed computing can be useful in generating lower bounds for cooperative biological ensembles. Indeed, if experiments that comply with our setting reveal that the ants' search is time efficient, then our theoretical lower bounds can provide some insight on the memory they use for this task. We extend here the Population Protocol (PP) model of (2004, 2006) [2,4] in order to model more powerful networks of resource-limited agents that are possibly mobile. The main feature of our extended model, called the Mediated Population Protocol (MPP) model, is to allow the edges of the interaction graph to have states that belong to a constant-size set. We then allow the protocol rules for pairwise interactions to modify the corresponding edge state. The descriptions of our protocols preserve both the uniformity and anonymity properties of PPs, that is, they do not depend on the size of the population and do not use unique identifiers. We focus on the computational power of the MPP model on complete interaction graphs and initially identical edges. We provide the following exact characterization of the class MPS of stably computable predicates: a predicate is in MPS iff it is symmetric and is in NSPACE(n^2). A new model that depicts a network of randomized finite state machines operating in an asynchronous environment is introduced. This model, that can be viewed as a hybrid of the message passing model and cellular automata is suitable for applying the distributed computing lens to the study of networks of sub-microprocessor devices, e.g., biological cellular networks and man-made nano-networks. Although the computation and communication capabilities of each individual device in the new model are, by design, much weaker than those of an abstract computer, we show that some of the most important and extensively studied distributed computing problems can still be solved efficiently. This article studies self-stabilization in networks of anonymous, asynchronously interacting nodes where the size of the network is unknown. Constant-space protocols are given for Dijkstra-style round-robin token circulation, leader election in rings, two-hop coloring in degree-bounded graphs, and establishing consistent global orientation in an undirected ring. A protocol to construct a spanning tree in regular graphs using O(log D) memory is also given, where D is the diameter of the graph. A general method for eliminating nondeterministic transitions from the self-stabilizing implementation of a large family of behaviors is used to simplify the constructions, and general conditions under which protocol composition preserves behavior are used in proving their correctness.