Managing Byzantine Robots via Blockchain Technology in a Swarm Robotics Collective Decision Making Scenario
Managing Byzantine Robots via Blockchain Technology in a Swarm Robotics Collective Decision Making Scenario
复制标题
在群体机器人集体决策场景中通过区块链技术管理拜占庭机器人
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
M.
中科院分区：
文献类型：
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作者：
V.;É.;M.
虽然群体机器人系统通常被认为具有高度容错性，但到目前为止，研究将其注意力仅限于安全实验室设置，并且实际上忽略了拜占庭机器人（即具有任意错误或恶意行为的机器人）存在的安全问题。然而，在许多应用中，一个或多个拜占庭机器人可能足以让当前的群体协调机制失败，并产生不可预测或灾难性的结果。在本文中，我们提供了通过区块链技术管理群体机器人系统中的安全问题的概念验证。我们的方法使用通过区块链技术（基于区块链的智能合约）执行的去中心化程序来建立安全的群体协调机制并识别和排除拜占庭群体成员。我们研究了基于区块链的方法在存在和不存在拜占庭机器人的集体决策场景中的性能，并将我们的结果与现有集体决策方法获得的结果进行了比较。结果表明，当拜占庭机器人成为群体的一部分时，区块链方法具有明显的优势。
While swarm robotics systems are often claimed to be highly fault-tolerant, so far research has limited its attention to safe laboratory settings and has virtually ignored security issues in the presence of Byzantine robots---i.e., robots with arbitrarily faulty or malicious behavior. However, in many applications one or more Byzantine robots may suffice to let current swarm coordination mechanisms fail with unpredictable or disastrous outcomes. In this paper, we provide a proof-of-concept for managing security issues in swarm robotics systems via blockchain technology. Our approach uses decentralized programs executed via blockchain technology (blockchain-based smart contracts) to establish secure swarm coordination mechanisms and to identify and exclude Byzantine swarm members. We studied the performance of our blockchain-based approach in a collective decision-making scenario both in the presence and absence of Byzantine robots and compared our results to those obtained with an existing collective decision approach. The results show a clear advantage of the blockchain approach when Byzantine robots are part of the swarm.