相关论文: Blockchain-Powered Collaboration in Heterogeneous …
In recent years, multi-robot systems have received increasing attention from both industry and academia. Besides the need of accurate and robust estimation of relative localization, security and trust in the system are essential to enable…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. However, several of the heterogeneous characteristics that make them ideal for certain future applications --- robot…
This conceptual paper overviews how blockchain technology is involving the operation of multi-robot collaboration for combating COVID-19 and future pandemics. Robots are a promising technology for providing many tasks such as spraying,…
Federated learning is a new approach to distributed machine learning that offers potential advantages such as reducing communication requirements and distributing the costs of training algorithms. Therefore, it could hold great promise in…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Blockchain is a disruptive technology that is normally used within financial applications, however it can be very beneficial also in certain robotic contexts, such as when an immutable register of events is required. Among the several…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
Decentralization, immutability and transparency make of Blockchain one of the most innovative technology of recent years. This paper presents an overview of solutions based on Blockchain technology for multi-agent robotic systems, and…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
Blockchain technology is growing everyday at a fast-passed rhythm and it's possible to integrate it with many systems, namely Robotics with AI services. However, this is still a recent field and there isn't yet a clear understanding of what…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
As a disruptive technology, blockchain, particularly its original form of bitcoin as a type of digital currency, has attracted great attentions. The innovative distributed decision making and security mechanism lay the technical foundation…
The concept of a blockchain has given way to the development of cryptocurrencies, enabled smart contracts, and unlocked a plethora of other disruptive technologies. But, beyond its use case in cryptocurrencies, and in network coordination…
Blockchains rely on a consensus among participants to achieve decentralization and security. However, reaching consensus in an online, digital world where identities are not tied to physical users is a challenging problem. Proof-of-work…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
Blockchain is a novel technology that is rising a lot of interest in the industrial and re- search sectors because its properties of decentralisation, immutability and data integrity. Initially, the underlying consensus mechanism has been…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Blockchain consensus, rooted in the principle ``don't trust, verify'', limits access to real-world data, which may be ambiguous or inaccessible to some participants. Oracles address this limitation by supplying data to blockchains, but…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…