Blockchain-Based Mechanism for Robotic Cooperation Through Incentives: Prototype Application in Warehouse Automation

Jonathan Grey, O. Seneviratne, I. Godage
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引用次数: 3

Abstract

The use of blockchain in cyber-physical systems, such as robotics, is an area with immense potential to address many shortcomings in robotic coordination and control. In traditional swarm robotic applications, where homogeneous robots are utilized, it is possible to replace a robot if it malfunctions, and it can be assumed that all robots are interchangeable. However, in many real-world applications spanning from search and rescue missions to future household robotic appliances, heterogeneous robots will need to work together with the other robots and human agents to achieve specific tasks. Nevertheless, no such system exists. Therefore, we propose a system that utilizes a token economy for robotic agents that makes agents responsive to token acquisition as an incentive for collaboration in achieving a given task. The economy enables the system to self-govern, even under Byzantine and adversarial settings. We further incorporate a novel subcontracting framework within a blockchain environment to allow the robotic agents to efficiently and cost-effectively perform complex jobs requiring multiple agents with various capabilities. We conducted a thorough evaluation of the system in a prototype warehouse application scenario, and the results are promising.
基于区块链的机器人激励合作机制:在仓库自动化中的原型应用
在机器人等网络物理系统中使用区块链是一个具有巨大潜力的领域,可以解决机器人协调和控制方面的许多缺点。在传统的群体机器人应用中,使用同构机器人,如果机器人发生故障,可以替换机器人,并且可以假设所有机器人都是可互换的。然而,在许多现实世界的应用中,从搜索和救援任务到未来的家用机器人设备,异构机器人将需要与其他机器人和人类代理一起工作,以完成特定的任务。然而,这样的制度并不存在。因此,我们提出了一个系统,该系统利用机器人代理的代币经济,使代理对代币获取做出响应,作为实现给定任务的协作激励。经济使这个系统能够自治,即使是在拜占庭和敌对的环境下。我们进一步在区块链环境中整合了一个新的分包框架,使机器人代理能够高效且经济地执行需要多个具有各种功能的代理的复杂工作。我们在一个原型仓库应用场景中对系统进行了全面的评估,结果很有希望。
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