群机器人
群体行为
机器人
机器人学
人工智能
计算机科学
梅克尔树
密码学
数据验证
蚂蚁机器人学
分布式计算
计算机安全
人机交互
移动机器人
作者
Eduardo Castelló Ferrer,Thomas Hardjono,Alex Pentland,Marco Dorigo
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-07-28
卷期号:6 (56): 1538-
被引量:5
标识
DOI:10.1126/scirobotics.abf1538
摘要
The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be developed. This work introduces a method to encapsulate cooperative robotic missions in an authenticated data structure known as a Merkle tree. With this method, operators can provide the blueprint of the swarm's mission without disclosing its raw data. In other words, data verification can be separated from data itself. We propose a system where robots in a swarm, to cooperate toward mission completion, have to prove their integrity to their peers by exchanging cryptographic proofs. We show the implications of this approach for two different swarm robotics missions: foraging and maze formation. In both missions, swarm robots were able to cooperate and carry out sequential tasks without having explicit knowledge about the mission's high-level objectives. The results presented in this work demonstrate the feasibility of using Merkle trees as a cooperation mechanism for swarm robotics systems in both simulation and real-robot experiments, which has implications for future decentralized robotics applications where security plays a crucial role.
科研通智能强力驱动
Strongly Powered by AbleSci AI