Research on dependable group communication middleware for self-organizing groups of distributed mobile robots.

• Project/Area Number: 18680007
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Computer system/Network
• Research Institution: Japan Advanced Institute of Science and Technology
• Principal Investigator: DEFAGO Xavier Japan Advanced Institute of Science and Technology, 情報科学研究科, 准教授 (70333557)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥28,080,000 (Direct Cost: ¥21,600,000、Indirect Cost: ¥6,480,000); Fiscal Year 2008: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000); Fiscal Year 2007: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000); Fiscal Year 2006: ¥11,180,000 (Direct Cost: ¥8,600,000、Indirect Cost: ¥2,580,000)
• Keywords: 分散システム / 耐故障性グループ通信 / 群ロボットアドホック通信 / 分散アルゴリズム / 自己安定 / 耐故障性 / グループ通信 / 群ロボット / アドホック通信

Research Abstract

The main results of the research project are as follows;
- We have designed and developed a mobility platform to avoid collisions between robots moving independently.
- We have identified several coordination problems for robot self-organization and proposed robust algorithms to solve them.
- We have found several impossibility results and proposed for the first time to use randomized algorithms for robot cooperation in the presence of faulty robots (crash and Byzantine).

Research Products

• [Journal Article] Using eventually consistent compasses to gather memory-less mobile robots with limited visibility. (2009)
  • Author(s): S.Souissi, X.Defago, M.Yamashita
  • Journal Title: ACM Trans. Autonomous and Adaptive Systems 4(1)
  • Peer Reviewed
• [Journal Article] Fault-tolerant Flocking of Mobile Robots with whole Formation Rotation (2009)
  • Author(s): Y.Yang, S.Souissi, X.Defago, M.Takizawa
  • Journal Title: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. Pages: 830-837
  • Peer Reviewed
• [Journal Article] Using eventually consistent compasses to gather memory-less mobile robots with limited visibility (2009)
  • Author(s): Samia Souissi, Xavier Defago, Masafumi Yamashita
  • Journal Title: ACM Transactions on Autonomous and Adaptive Systems 4
  • Peer Reviewed
• [Journal Article] Non-uniform circle formation algorithm for oblivious mobile robots with convergence toward uniformity. (2008)
  • Author(s): X.Defago, S.Souissi
  • Journal Title: Theoretical Computer Science 396(1-3) Pages: 97-112
  • NAID: 120000861676
  • Peer Reviewed
• [Journal Article] Dynamic Scheduling Real-Time Task Using Primary-Backup Overloading Strategy for Multiprocessor Systems. (2008)
  • Author(s): W.Sun, C.Yu, X.Defago, Y.Inoguchi
  • Journal Title: IEICE Trans. on Inf. and Syst. 91-D(3) Pages: 796-806
  • NAID: 10026802255
  • Peer Reviewed
• [Journal Article] Fault-Tolerant Flocking in a k-Bounded Asynchronous System. (2008)
  • Author(s): S.Souissi, Y.Yang, X.Defago
  • Journal Title: Proc. 12th Int. Conf. Principles of Distributed Systems LNCS 5401 Pages: 145-163
  • NAID: 110007110872
  • Peer Reviewed
• [Journal Article] Non-uniform circle formation algorithm for oblivious mobile robots with convergence toward uniformity (2008)
  • Author(s): Xavier Defago, Samia Souissi
  • Journal Title: Theoretical Computer Science 396 Pages: 97-112
  • NAID: 120000861676
  • Peer Reviewed
• [Journal Article] Dynamic scheduling real-time task using primary-backup overloading strategy for multiprocessor systems (2008)
  • Author(s): Wei Sun, Chen Yu, Xavier Defago, Yasushi Inoguchi
  • Journal Title: IEICE Transactions on Information & Systems 91-D Pages: 796-806
  • NAID: 10026802255
  • Peer Reviewed
• [Journal Article] Fault-tolerant flocking in a k-bounded asynchronous system (2008)
  • Author(s): Samia Souissi, Yan Yang, Xavier Defago
  • Journal Title: Principles of Distributed Systems, 12th International Conference, OPODIS 2008 LNCS 5401 Pages: 145-163
  • NAID: 110007110872
  • Peer Reviewed
• [Journal Article] Dynamic scheduling real-time task using primary-backup overloading strategy for multiprocessor systems (2008)
  • Author(s): Wei Sun, Chen Yu, Xavier Defago, Yasushi Inoguchi
  • Journal Title: IEICE Trans. Inf. & Syst. E91-D,no.3 Pages: 796-806
  • NAID: 10026802255
  • Peer Reviewed
• [Journal Article] Collision Prevention Platform for a Dynamic Group of Asynchronous Cooperative Mobile Robots. (2007)
  • Author(s): R.Yared, X.Defago, J.Iguchi, M.Wiesmann
  • Journal Title: J. Networks 2(4) Pages: 28-39
  • NAID: 120001009648
  • Peer Reviewed
• [Journal Article] Collision prevention using group communication for asynchronous cooperative mobile robots. (2007)
  • Author(s): R.Yared, X.Defago, M.Wiesmann
  • Journal Title: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. Pages: 244-249
  • NAID: 110006386794
  • Peer Reviewed
• [Journal Article] Anonymous Stabilizing Leader Election using a Network Sequencer. (2007)
  • Author(s): M.Wiesmann, X.Defago.
  • Journal Title: Proc. 21st Int. Conf. Adv. Inform. Netw. & Appl. Pages: 673-678
  • NAID: 110004847504
  • Peer Reviewed
• [Journal Article] Robust self-deployment for a swarm of autonomous mobile robots with limited visibility range. (2007)
  • Author(s): G.Lee, N.Y.Chong, X.Defago.
  • Journal Title: Proc. 16th Intl. Symp. on Robot and Human Interactive Commmunication Pages: 925-930
  • NAID: 120007005670
  • Peer Reviewed
• [Journal Article] Hybrid overloading and stochastic analysis for redundant real-time multiprocessor systems. (2007)
  • Author(s): W.Sun, Y.Zhang, C.Yu, X.Defago, Y.Inoguchi
  • Journal Title: Proc. 26th Intl. Symp. Reliable Distributed Systems Pages: 265-274
  • NAID: 120007005665
  • Peer Reviewed
• [Journal Article] Colhsion prevention platform for a dynamic group of asynchronous cooperative mobile robots (2007)
  • Author(s): Rami Yared, Xavier Defago, Julien Iguchi-Cartigny, M. Wiesmann
  • Journal Title: Journal of Networks 2・4 Pages: 28-39
  • Peer Reviewed
• [Journal Article] Collision prevention using group communication for asynchronous cooperative mobile robots (2007)
  • Author(s): Rami Yared, Xavier Defago, Matthias Wiesmann
  • Journal Title: Proc. 21st IEEE Conf. on Advanced Information Networking and Applications (AINA-07) Pages: 244-249
  • NAID: 110006386794
  • Peer Reviewed
• [Journal Article] Anonymous stabilizing leader election using a network sequencer (2007)
  • Author(s): Matthias Wiesmann、Xavier Defago
  • Journal Title: Proc. 21st IEEE Conf. on Advanced Information Networking and Applications (AINA-07) Pages: 673-678
  • NAID: 110004847504
  • Peer Reviewed
• [Journal Article] Hybrid overloading and stochastic analysis for redundant real-time multiprocessor systems (2007)
  • Author(s): Wei Sun, Yuanyuan Zhang, Chen Yu, Xavier Defago, Y. Inoguchi
  • Journal Title: Proc. 26th IEEE Symp. on Reliable Distributed Systems (SRDS'07) Pages: 265-274
  • NAID: 120007005665
  • Peer Reviewed
• [Journal Article] Gathering two stateless mobile robots using very inaccurate compasses in finite time (2007)
  • Author(s): Masafumi Yamashita, Samia Souissi, Xavier Defago
  • Journal Title: Proc. 1st Intl. Conference on Robot Communication ahd Coordination (ROBOCOM) Pages: 6-6
  • Peer Reviewed
• [Journal Article] Robst self-deployment for a swarm of autonomous mobile robots with limited visibility range (2007)
  • Author(s): Geunho Lee, Nak Young Chong, Xavier Defago
  • Journal Title: Proc. 16th Intl. Symp. on Robot and human Interactive Communication (ROMAN) Pages: 925-930
  • Peer Reviewed
• [Journal Article] Locality-preserving distributed path reservation protocol for asynchronous cooperative mobile robots (2007)
  • Author(s): Rami Yared, Julien Cartigny, Xavier Defago, Matthias Wiesmann
  • Journal Title: Proc. 8th Intl. Symp. on Autonomous Decentralized Systems(ISADS'2007) Pages: 188-195
  • NAID: 110004840536
• [Journal Article] Collision prevention platform for a dynamic group of asynchronous cooperative mobile robots (2007)
  • Author(s): Rami Yared, Xavier, Defago, Julien Iguchi-Cartigny, Matthias Wiesmann
  • Journal Title: Journal of Networks 2・4 Pages: 28-39
  • NAID: 120001009648
• [Journal Article] Collision prevention using group communication for asynchronous cooperative mobile robots (2007)
  • Author(s): Rami Yared, Xavier Defago, Matthias Wiesmann
  • Journal Title: Proc. 21st Intl Conf. on Advanced Information Networking and Applications(AINA-07) Pages: 244-249
  • NAID: 110006386794
• [Journal Article] Fault-Tolerant and Self-stabilizing Mobile Robots Gathering. (2006)
  • Author(s): X.Defago, M.Gradinariu, S.Messika, P.Raipin
  • Journal Title: Proc. 20th Int. Symp. Distributed Computing LNCS 4167 Pages: 46-60
  • Peer Reviewed
• [Journal Article] End-to-end consensus using end-to-end channels. (2006)
  • Author(s): M.Wiesmann, X.Defago
  • Journal Title: Proc. 12th Intl. Symp. Pacific-Rim Dependable Computing Pages: 341-350
  • Peer Reviewed
• [Journal Article] Gathering Asynchronous Mobile Robots with Inaccurate Compasses. (2006)
  • Author(s): S.Souissi, X.Defago, M.Yamashita.
  • Journal Title: Proc. 10th Int. Conf. Principles of Distributed Systems LNCS 4305 Pages: 333-349
  • Peer Reviewed
• [Journal Article] Using eventually consistent compasses to gather oblivious mobile robots with limited visibility (2006)
  • Author(s): S.Souissi, X.Defago, M.Yamashita
  • Journal Title: Proc. 8th Intl. Symp. on Stabilization, Safety, Security of Distrib. Sys. LNCS 4280 Pages: 471-487
  • Peer Reviewed
• [Journal Article] Fault-tolerant and self-stabilizing mobile robots gathering (2006)
  • Author(s): Xavier Defago, Maria Gradinariu, Stephane Messika, Philippe Raipin-Parvedy
  • Journal Title: Proc. 20th Intl. Symp. on Distributed Computing(DISC2006) LNCS4167 Pages: 46-60
• [Journal Article] Using eventually consistent compasses to gather oblivious mobile robots with limited visibility (2006)
  • Author(s): Samia Souissi, Xavier Defago, Masafumi Yamashita
  • Journal Title: Proc. 8th Intl. Symp. on Stabilization, Safety, and Security of Distributed Systems(SSS2006) LNCS4280 Pages: 471-487
• [Journal Article] Gathering asynchronous mobile robots with inaccurate compasses (2006)
  • Author(s): Samia Souissi, Xavier Defago, Masafumi Yamashita
  • Journal Title: Proc. 10th Intl. Conf. on Principles of Distributed Systems(OPODIS2006) LNCS4305 Pages: 333-349
• [Journal Article] Fault-tolerant flocking in a k-bounded semi-synchronous system with flock rotation
  • Author(s): Yan Yang, Samia Souissi, Xavier Defago, Makoto Takizawa
  • Journal Title: IEEE 23rd Intl. Conf. on Adv. Inform. Networking and Applications (印刷中)
  • Peer Reviewed
• [Presentation] モバイルロボット間における先読み機能を有した経路予約システムの提案 (2007)
  • Author(s): 東原大記, Rami Yared, Xavier Defago
  • Organizer: 第15回マルチメディア通信と分散処理ワークショップ
  • Place of Presentation: 石川県加賀市
  • Year and Date: 2007-11-02
• [Presentation] Gathering two stateless mobile robots using very inaccurate compasses in finite time. Proc. Int. Conf. on Robot Communication and Coordination (2007)
  • Author(s): M.Yamashita, S.Souissi, X.Defago
  • Organizer: ROBOCOM
  • Place of Presentation: Greece
  • Year and Date: 2007-10-16
• [Presentation] Fault-Tolerant Group Communication Cooperative Mobile Robots (invited talk) (2007)
  • Author(s): Xavier Defago
  • Organizer: Japan-Vietnam Workshop on Software Engineering 2007 (JVSE'07)
  • Place of Presentation: Hanoi, Vietnam
  • Year and Date: 2007-09-27
• [Presentation] Locality-preserving distributed path reservation protocol for asynchronous cooperative mobile robots (2007)
  • Author(s): R.Yared, J.Cartigny, X.Defago, M.Wiesmann
  • Organizer: Proc. 8th Intl. Symp. on Autonomous Decentralized Systems(p.188-195)
  • Place of Presentation: USA
  • Year and Date: 2007-03-22
• [Book] In Encyclopedia of Algorithms, Part 1(2008. Springer.) (2008)
  • Author(s): X.Defago
  • Total Pages: 5
  • Publisher: Atomic Broadcast
• [Book] In Encyclopedia of Algorithms, Part 3(2008. Springer.) (2008)
  • Author(s): X.Defago, Causal Order, Logical Clocks
  • Total Pages: 5
  • Publisher: State Machine Replication