Managing Collaborative Tasks within Heterogeneous Robotic Swarms using Swarm Contracts
Managing Collaborative Tasks within Heterogeneous Robotic Swarms using Swarm Contracts
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DOI：
10.1109/dapps55202.2022.00014
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
S. Mallikarachchi;C. Dai;O. Seneviratne;I. Godage
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文献类型：
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作者：
S. Mallikarachchi;C. Dai;O. Seneviratne;I. Godage
网络物理系统（CPS）中越来越多的应用涉及不同类型的机器人，同时保持互操作性和信任是传统集中式系统面临的持续挑战。据我们所知，本文介绍了机器人操作系统（ROS）与使用物理机器人的以太坊区块链的首次集成。我们实施了一个名为“Swarm Contracts”的专门智能合约框架，该框架在现实世界的应用中依靠区块链技术，让机器人代理与人类互动来执行协作任务，同时通过使用具有自治结构的代币经济来激励代理来确保信任。使用开源技术，包括 TurtleBot3、通用机器人手臂和 ROS 等机器人硬件平台，能够将各种机器人类型连接到我们提出的框架。除了模拟之外，我们还通过实际的硬件机器人证明了所提出的系统在现实条件下的鲁棒性。
The growing number of applications in Cyber-Physical Systems (CPS) involving different types of robots while maintaining interoperability and trust is an ongoing challenge faced by traditional centralized systems. This paper presents what is, to the best of our knowledge, the first integration of the Robotic Operating System (ROS) with the Ethereum blockchain using physical robots. We implement a specialized smart contract framework called “Swarm Contracts” that rely on blockchain technology in real-world applications for robotic agents with human interaction to perform collaborative tasks while ensuring trust by motivating the agents with incentives using a token economy with a self-governing structure. The use of open-source technologies, including robot hardware platforms such as TurtleBot3, Universal Robot arm, and ROS, enables the ability to connect a wide range of robot types to the framework we propose. Going beyond simulations, we demonstrate the robustness of the proposed system in real-world conditions with actual hardware robots.