用区块链共识机制提升农业机器人导航协作效率
Integrating Robotic Navigation with Blockchain: A Novel PoS-Based Approach for Heterogeneous Robotic Teams
- 引入区块链的权益证明机制，按导航可靠性分配协作权重
- 通过共识评分与可导航性函数，降低多机协同计算复杂度
- 适合需要高可靠性的野外自主机器人团队应用
本文探索将区块链方法与广域视觉导航（WAVN）结合，解决农业、林业等非结构化场景中异构移动机器人团队在无GPS依赖、环境变化及计算资源受限下的视觉导航难题。研究将区块链中常用的权益证明（PoS）机制引入WAVN框架，通过构建权益权重函数、基于PoS的共识评分和可导航性函数，依据机器人导航可靠性动态分配协作优先级，有效缓解机器人协作中的计算复杂性与数据验证问题。该创新方法有望通过区块链思想优化机器人团队的自主导航能力，提升系统可扩展性、运行效率与整体性能，推动区块链技术在非金融领域的实际应用。
原文摘要 · Abstract (English)
This work explores a novel integration of blockchain methodologies with Wide Area Visual Navigation (WAVN) to address challenges in visual navigation for a heterogeneous team of mobile robots deployed for unstructured applications in agriculture, forestry, etc. Focusing on overcoming challenges such as GPS independence, environmental changes, and computational limitations, the study introduces the Proof of Stake (PoS) mechanism, commonly used in blockchain systems, into the WAVN framework \cite{Lyons_2022}. This integration aims to enhance the cooperative navigation capabilities of robotic teams by prioritizing robot contributions based on their navigation reliability. The methodology involves a stake weight function, consensus score with PoS, and a navigability function, addressing the computational complexities of robotic cooperation and data validation. This innovative approach promises to optimize robotic teamwork by leveraging blockchain principles, offering insights into the scalability, efficiency, and overall system performance. The project anticipates significant advancements in autonomous navigation and the broader application of blockchain technology beyond its traditional financial context.
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