论文标题
Hyperledger织物区块链和ROS 2集成，用于自动移动机器人
Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots
论文作者
论文摘要
在工业应用中，对系统的安全和信任是广泛采用的要求。区块链技术已成为解决身份管理并保护数据聚合和控制的潜在解决方案。但是，迄今为止的绝大多数作品都利用以太坊和智能合约，这些合同不可扩展或适合工业应用。据我们所知，本文介绍了ROS 2与Hyperledger织物区块链的首次集成。通过通过GO应用程序利用Fabric Smart Contracts和ROS 2的框架，我们深入研究了使用区块链控制机器人，收集和处理其数据的潜力。我们证明了拟议框架对库存管理用例的适用性，其中使用不同的机器人检测特定区域中感兴趣的对象。旨在满足分布式机器人系统的要求，我们表明机器人的性能不会受到区块链层的显着影响。同时，我们提供了开发其他应用程序的示例，这些应用程序将织物智能合约与ROS 2集成在一起。我们的结果为在自动机器人系统中进一步采用区块链技术铺平了道路，以构建可信赖的数据共享。
In industrial applications, security and trust in the system are requirements for widespread adoption. Blockchain technologies have emerged as a potential solution to address identity management and secure data aggregation and control. However, the vast majority of works to date utilize Ethereum and smart contracts that are not scalable or well suited for industrial applications. This paper presents what is, to the best of our knowledge, the first integration of ROS 2 with the Hyperledger Fabric blockchain. With a framework that leverages Fabric smart contracts and ROS 2 through a Go application, we delve into the potential of using blockchain for controlling robots, and gathering and processing their data. We demonstrate the applicability of the proposed framework to an inventory management use-case where different robots are used to detect objects of interest in a given area. Designed to meet the requirements of distributed robotic systems, we show that the performance of the robots is not impacted significantly by the blockchain layer. At the same time, we provide examples for developing other applications that integrate Fabric smart contracts with ROS 2. Our results pave the way for further adoption of blockchain technologies in autonomous robotic systems for building trustable data sharing.
