With the increasing ubiquity of autonomous robotic solutions, the interest in their connectivity and in the cooperation within multi-robot systems is rising. Two aspects that are a matter of current research are robot security and secure multi-robot collaboration robust to byzantine agents. Blockchain and other distributed ledger technologies (DLTs) have been proposed to address the challenges in both domains. Nonetheless, some key challenges include scalability and deployment within real-world networks. This paper presents an approach to integrating IOTA and ROS 2 for more scalable DLT-based robotic systems while allowing for network partition tolerance after deployment. This is, to the best of our knowledge, the first implementation of IOTA smart contracts for robotic systems, and the first integrated design with ROS 2. This is in comparison to the vast majority of the literature which relies on Ethereum. We present a general IOTA+ROS 2 architecture leading to partition-tolerant decision-making processes that also inherit byzantine tolerance properties from the embedded blockchain structures. We demonstrate the effectiveness of the proposed framework for a cooperative mapping application in a system with intermittent network connectivity. We show both superior performance with respect to Ethereum in the presence of network partitions, and a low impact in terms of computational resource utilization. These results open the path for wider integration of blockchain solutions in distributed robotic systems with less stringent connectivity and computational requirements.
翻译:随着自主机器人解决方案日益普遍,人们对其连通性和多机器人系统内部合作的兴趣日益浓厚,目前研究的两个方面是机器人安全,对拜占廷代理商来说是可靠的多机器人合作。提出了链和其他分布式分类账技术(DLTs)以应对这两个领域的挑战。然而,一些关键挑战包括实际世界网络中的可缩放性和部署。本文件介绍了一种方法,将IOTA和ROS 2整合为更可扩缩的DLT基机器人系统,同时允许在部署后进行网络分割容忍。根据我们的知识,这是机器人系统首次实施IOTA智能合同,并与ROS 2. 进行首次综合设计。这与依赖Etheeum的绝大多数文献相比。我们提出了一个IOTA+ROS 2 总体结构,导致隔离性决策进程的扩展,这些进程也由嵌入的阻塞链结构所继承。我们展示了拟议框架的有效性,以便在一个具有间歇网络连通性互连通性的系统中进行合作绘图应用。这是我们所了解的,这是首次实施IOTA智能合同,与ROS 2.在更大范围内的计算结果中以较不那么高的计算。我们使用。