CN115686778A - Decentralized group robot system framework based on block chain - Google Patents
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Abstract
The invention discloses a decentralized group robot system framework based on a block chain, which mainly adopts a loss detection mechanism, a reputation mechanism, a block chain technology and the like. The centralized group robot system based on the framework design can be compatible with different types of robots, has stable and quick execution efficiency and capability of resisting various attacks, can well protect data interaction privacy, and provides global information, so that the robots in the system make decisions better. Compared with the existing decentralized group robot frame, the technical scheme provided by the invention is safer and more stable, and is more suitable for being applied to the ground in actual production.
Description
Technical Field
The invention relates to the technical field of group robots, in particular to a decentralized group robot system framework based on a block chain.
Background
The main goal of the Swarm Robotic System (Swarm Robotic System) is to accomplish the collective behavior that System users expect from robot to robot, and robot to environment, with a large number of simple robots. Meanwhile, the group robot system has the characteristics of good expansibility, strong flexibility, high fault tolerance rate and the like.
The existing group robot system can be divided into two categories according to different architecture designs: centralized group robot systems and decentralized group robot systems. The centralized group robot system usually has one to a plurality of central command roles, and the main responsibility of the centralized group robot system is to collect data from each robot for calculation and specify global behaviors of a group; the characteristic enables the centralized group robot system to be highly sensitive to the survival state of the central command, and once the central command is lost, the system falls into paralysis; in addition, limited by the system control strategy and the system communication capacity, the system cannot support the application scenarios in which the number of robots is increasing, and further cannot complete more complex tasks. In the decentralized group robot system, because a centralized decision role is not needed and a distributed communication and control mode is adopted, the delay caused by data processing centralization can be effectively avoided, and the calculation complexity of the whole system is not limited by the group size any more. However, the existing decentralized swarm robot system still faces many challenges, such as: the sensing data collected by the group cannot be integrated into global knowledge; even if global knowledge is shared by local interaction among robots, the robots cannot make decisions well according to the global knowledge; with the continuous increase of the number of the individual robots and the wider distribution of the individual robots, the safety and the stability of the global knowledge in the transmission process are difficult to ensure by the existing system.
Ferrer [ The blockchain: a new frame for robust systems [ C ]// Proceedings of The future technologies reference. Springer, cham,2018 ] proposes to combine blockchain technology with decentralized group robot systems and discuss The application scenarios of blockchains in The system, emphasizing The importance of global knowledge, but fails to provide detailed theoretical basis to guide The implementation of blockchain-based group robot systems. Ozyilmaz et al [ Ozyilmaz K R, yurdaku A. Designing a Block-based IoT with Ethereum, sweep, and LoRa: the software solution to create high availability with a minimal security ris J. IEEE Consumer Electronics Magazine, 8978 zft 8978 (2): 28-34 ] propose and preliminarily realize a Block chain-based Internet of Things Infrastructure framework (Block-chain of Internet technologies Infrastructure), combined with block chain technology, such that the robots in the system can complete decisions based on global knowledge, but still have insufficient security and robustness, and cannot effectively cope with malicious attacks and robot individual losses. This indicates that the results of the existing research are difficult to put into practical use, and the existing system lacks generalization capability and cannot provide sufficient security analysis, a perfect test mechanism and a more excellent security protocol.
The above problems have prevented further development of the swarm robot system.
Patent document CN110597905a discloses a decentralized cluster control system and a working method based on a block chain, wherein the system is composed of not less than 2 robot cluster units; each robot monomer is a node in the cluster control system; the robot cluster unit is an LORA block chain network consisting of not less than n blocks; the robot monomer consists of an LORA communication module, a motion device module, a sensor module, a state evaluation module and an intelligent contract module; the sensor is connected to the state evaluation module, the cooperative control algorithm is applied to process and fuse the original data of the sensor to form a state code, the state code is sent to the intelligent contract module, voting is carried out according to the current state code, and when the cluster achieves consensus, a corresponding strategy is adopted as action indication. The scheme utilizes the block chain technology to form a decentralized control system aiming at the unmanned aerial vehicle cluster, solves the problem of the Byzantine general and the application safety field of the military cluster, and has very strong practicability and research. But the solution is still not compatible with different types of robots and cannot adapt to different application scenarios.
Disclosure of Invention
In order to solve at least one technical problem existing in the background art, the invention provides a decentralized group robot system framework based on a block chain, which is compatible with different types of robots, can adapt to different application scenes, and can meet the production safety requirements in practice.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a blockchain-based decentralized swarm robotic system framework, comprising:
the robot layer comprises a robot registration manager and a robot task manager; the robot registration manager is used for finishing a robot registration process, managing information of all robots and providing a service for inquiring specific robot information for the robots; the robot task manager is used for providing services related to task operation for the robot, and comprises tasks issuing, receiving and completing;
the mechanism layer comprises a mechanism registration manager and a global knowledge manager; the mechanism registration manager is used for finishing the mechanism registration process, managing the registration information of all the mechanisms and providing the mechanism with the service of inquiring the information of other mechanisms; the global knowledge manager is used for executing the storage and update operation of global knowledge;
a loss detection mechanism, which enables individuals in the group robot system to judge whether other robots are lost or not by combining a block chain technology and a heartbeat information mechanism;
and the reputation mechanism is used for updating the reputation scores of all the individuals in the group robot system by recording the reputation scores and according to the individual behaviors.
Further, the institution registration manager and the global knowledge manager are both implemented by an institution contract.
Further, the loss detection mechanism enables the individual in the robot layer and the mechanism layer to judge whether other robots are lost by combining the block chain technology and the heartbeat information mechanism, and comprises:
and (3) heartbeat packet generation: the robot first needs to select a random number
And according to the identity i of the user and the hash value Hv of the latest block on the block chain L And generating the heartbeat packet by the current time stamp Ct
(the symbol | | means a string splicing operation, the same applies below), wherein
Is a robot
By means of a private key
The result of the signature is carried out;
sending a heartbeat packet: the robot must send heartbeat packets when a new block is generated
To federation block chains; if the robot fails to complete the transmission for some reason, the heartbeat will be sent
Increasing;
verifying the heartbeat packet: each organization acquires the robot R from the block chain of the alliance i Of (2) a public key
For verifying data fields in heartbeat packets
If the organization meeting the proportion requirement identifies that the heartbeat packet is effective and the signature of the heartbeat packet
If the validity is verified, the robot R is reset i Heartbeat status on the chain
Is 0, otherwise the mechanism should discard the heartbeat packet
If robot R j Need to determine the robot R i Whether or not to be lost, R j First sending request to block chain of alliance to obtain R i Heart beat state of
When in use
When the robot R is detected, the robot R is considered j The robot R still survives, otherwise, the robot R is considered j Is lost; wherein μ is a threshold value for determining whether the robot is lost;
and (3) loss remediation: if the task publisher R is detected i When the task is lost in the process of executing the task, the task is cancelled
And informs that the task has been received
All helpers of
If it is used as task assistant R j When the task is lost in the process of executing the task, other tasks in idle state in the system are informed and the tasks are met
Required robot to replace R j And ensuring the normal execution of the task.
Further, the reputation mechanism is used for updating the reputation scores of all the individuals in the group robot system according to the individual behaviors by recording the reputation scores and comprises the following steps:
initializing the reputation of the robot: reputation score for each newly registered robot
Are initialized to a set value;
updating the reputation of the robot: if the robot R i The reputation score is updated when an illegal task attack or a work refusal attack is launched
If the robot receives and completes the task normally, the reputation score is updated
Wherein α and β are constants, and α>β；
When in use
When v is used as a threshold value for judging whether the robot is malicious or not, the robot R i Will be considered malicious by other individuals.
Further, the robot registration manager is responsible for completing a robot registration process and managing information of all robots, including:
the new robot firstly needs to pass the public key Pk through the robot client r Robot type Rt r Robot description Dp r Submitted to a robot registration manager, which will be based on the robot public key Pk r Generating an address As r Subsequently examining As r Whether the registration exists or not, if so, the registration fails; if not, the robot is assigned with the identity i, namely the robot is marked as R i And i | | As r ||Pk r ||Rt r ||Dp r Save to blockchainAnd the registration is successful.
Further, the publishing task includes:
robot R i As a publisher, a task description is first submitted through a robotic client
Task helper types
Number of task facilitators required
To the robot task manager, which will then verify the robot reputation score
Whether or not to satisfy
If it is, then it is said that the robot is benign, then the robot task manager will create a new task whose state is pending
If not, directly refusing to release the task
The robot task manager then needs to check R i Whether the task is frequently issued, and if so, the task is issued
The state is changed to be cancelled, and the robot R is updated i Reputation score of
If R is i If the task is not frequently issued, the manager will
The state of the task is changed into the state of not getting and adding the task into the task list, so far, the task is successfully issued.
Further, the receiving task includes:
when in the idle state, the robot R j To receive a task
Firstly, a request needs to be sent to a robot task manager through a robot client; the robot task manager is based on the robot R j Reputation score of
Verify it is not a malicious robot while ensuring that robot R i Of type (1)
Satisfy R i Robot types required in published tasks
And the number of robots currently receiving the task
Still less than the number of robots indicated in the task
When all three of the above conditions are satisfied, i.e.
The robot task manager will update
At the same time will
Is added to R j In the received task list, last check
Whether or not to satisfy
If it is
Then the task will be
And updating the state of not getting when the publishing is successful into the state of getting.
Further, the completing the task comprises:
when the task is completed
After, including the publisher R i All the assistants
The task performers within initiate a vote only if most of the task performers agree
Has been completed, i.e.
n i The robot task manager will only assume that the task has been performed for the number of helpers, and will therefore
Is updated from being picked up to being completed and will be moved
Removing from the global task list, and the received task lists of all the helpers; finally, the robot task manager will promote the task publisher and all assistanceRobot
Reputation score of (a).
Further, the institution registration manager is responsible for completing an institution registration process and managing registration information of all institutions, including:
the new organization first submits the public key Pk including organization public key to the organization register manager through the organization client a And mechanism description Dp a Registration information of the inside; the organization registration manager will rely on the organization public key Pk a Generating a mechanism address, if the mechanism address exists, failing to register, if the mechanism address does not exist in the block chain record, giving the identity k to the mechanism, and packaging k | | | As a ||Pk a ||Dp a And storing the data into the block chain until the mechanism is successfully registered.
Further, the global knowledge manager is responsible for performing global knowledge saving and updating operations, and comprises:
for robot R i Uploaded global knowledge
The global knowledge manager first checks its hash value
Whether it is equal to the hash value Hv of the latest block L If not, then judge
Is newly uploaded knowledge; in addition, most organizations must agree on
Is considered legal, i.e. when considered
Is the number of legal institutions
m is the total number of organizations in the system, the global knowledge manager saves the global knowledge
Into federation block chains
Compared with the prior art, the invention has the beneficial effects that:
1) Based on the block chain technology, the invention reasonably plans the positioning and resource requirements of various roles in the framework, and simultaneously can effectively complete the integration of global information, thereby enabling the robot to make a decision-making behavior comprehensively considering by combining global knowledge provided by the whole group and local knowledge collected by a sensor of the robot, and further improving the adaptability of the whole group to different environments and the coping capability of the whole group to sudden conditions.
2) The invention can make the robot in the system quickly judge whether other individuals are malicious or not by combining the reputation mechanism, and meanwhile, because of the characteristic that the block chain can not be tampered, the robot individual can verify the validity of the message and the block data according to the public key submitted by other individuals in the registration process, thereby making the system under the framework well resist the attack of illegal tasks, the attack of refusing work and the attack of forging global knowledge.
3) The technical scheme of the invention can effectively ensure that the algorithm of each intelligent contract can obtain good stability and lower expected value of execution time consumption under the condition that the number of robots is continuously increased. Meanwhile, the technical scheme of the invention can obtain the task correct completion rate higher than that of the existing framework in the environment with noise interference.
Drawings
FIG. 1 is a block chain-based decentralized population robot system framework schematic diagram provided in embodiment 1 of the present invention;
FIG. 2 is a flow chart of an implementation of a block chain-based decentralized population robot system framework according to embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of state transition of a robot task in embodiment 2 of the present invention;
FIG. 4 is a schematic diagram of a loss detection mechanism proposed in embodiment 2 of the present invention;
FIG. 5 is a schematic diagram of an intelligent contract structure according to embodiment 2 of the present invention;
FIG. 6 is a graph showing the average execution time of each algorithm under different conditions in example 1 of the present invention;
fig. 7 is a graph comparing the correct completion rate of tasks in embodiment 1 of the present invention with that of the conventional framework.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
fig. 1 is a schematic diagram of a frame of a block chain-based decentralized population robot system according to the present embodiment. The technical scheme of the invention mainly comprises four square elements, namely a Robot (Robot), a mechanism (Agency), a Robot Layer (Robot Layer) and a mechanism Layer (Agency Layer).
The Robot is a light node, can be used as a publisher and a helper of a task, is not responsible for storing a block chain account book, is provided with a built-in Robot Client (Robot Client) and interacts with a Robot layer, and the framework assumes that more than half of honest robots exist in the system.
The organization is a complete node, has more computing resources compared with a robot serving as a light-weight node, is mainly responsible for processing data requests, verifying transactions, integrating global knowledge and maintaining a block chain account book in the system, and is internally provided with an organization Client (Agency Client) to interact with an organization layer.
The Robot layer is a bridge for the Robot to communicate with the block chain, and comprises a Robot registration Manager (Robot Register Manager) and a Robot Task Manager (Robot Task Manager). The function of the Robot registration manager is realized through a Robot Contract (Robot Contract), registration service is provided for the robots newly added into a group, reputation scores are initialized at the same time, and the function of the Robot Task manager is realized through a Task Contract (Task Contract), so that the service of issuing, receiving and completing tasks is provided for the robots;
the definitions referred to in the present invention are further explained below:
definitions 1, total fraud resistance
If one robot frequently posts tasks as a malicious task publisher, the tasks and subsequently posted tasks by that robot will be discarded and the robot reputation score will also decrease. In addition, if a malicious robot, as a task assistor, does not execute the task on time or the task completion quality is poor, the corresponding task publisher may retrieve the task. Assuming m organizations in the system, where λ ∈ [0,0.5 ]) is a malicious organization, 1- λ is an honest organization, and the hashing capabilities of both parties can be represented as LP = (1- λ) · m and MP = λ · m, respectively. Based on the above assumptions, the inequality LP = (1- λ) · m > λ · m = MP always holds, so a malicious authority cannot propose more blocks before an honest authority, thereby completing a branch attack. Secondly, because the data on the block chain of the alliance is not modifiable, the robot can judge the authenticity of the global knowledge received from the institution according to the hash value of the global knowledge recorded on the block chain, so that the malicious institution cannot forge the global knowledge and store the forged global knowledge in the block chain of the alliance.
Definitions 2, loss detection mechanism
With a robot R i The latest activity information broadcasted is used as the heartbeat of the robot and is used for reflecting the robot R i The survival status of (1). When in use
If the robot is not lost (where μ is a threshold for determining whether the robot is lost, and μmay be a positive integer, such as {1,2.., 4 }), the robot is considered to be still alive, otherwise, the robot is lost. Specifically, the robot can generate a heartbeat packet as follows
Wherein i is the identity of the robot, hv L Hash value of the newest block in the block chain of the union,
Is a robot R i The generated random number and Ct are the current time stamp, and simultaneously
Representing the robot by means of a private key
For is to
And (4) performing signature results (wherein | | represents character string splicing, and the same applies below). In addition to this, the present invention is,
the specific updating method is as follows: 1. whenever a new tile is proposed, the robot R i Needs to send
To a federation blockchain. If the robot R i Cannot do so, then R i Corresponding heartbeat state
Will increase by 1; 2. each organization acquires the robot R from the block chain of the alliance i Of (2) a public key
And use
Verifying heartbeat packet signatures
Only when more than half, i.e. more than
Mechanism of (1)
The verification is passed through, and the verification is finished,
is regarded as valid and the heartbeat status of the robot
Reset to 0, otherwise heartbeat packet
Will be discarded. If robot R j Need to determine the robot R i Whether or not to be lost, R j First sending request to block chain of alliance to obtain R i Heart beat state of
And compare
The size relationship with mu, thereby quickly judging R i Whether it is lost.
If the robot R is a task publisher i Lost during the execution of a task, the task contract will contract the task
Is updated from picked (clamped) to Cancelled (Cancelled) and informs the task
All helpers of
"robot R i The fact "has been lost. If the robot R is used as a task helper j Lost during task execution, task contracts will inform other conforming tasks
The robot being required and in an idle state replaces R j Thereby ensuring the normal execution of the task.
Definitions 3, reputation mechanism
Robot reputation scoring
Is the same as [0,1]A quantized value within, for indicating a confidence level of a robot. In the present design, each newly registered robot may be assigned an initial reputation score of 0.6. Further, the reputation score is updated in the following manner:
where α and β are constants belonging to (0,0.5), and α>Beta is used as the reference. That is, the robot R i Reputation score of
May be reduced or increased depending on whether it is launching an attack, such as an illegal task attack or a denial of work attack. In addition, if
(where v ∈ (0,1), is the threshold to determine a robot as a malicious robot), then robot R i And malicious in other individual perspectives, and vice versa.
Example 2:
the specific implementation steps of the decentralized group robot system framework based on the block chain provided by the invention will be described in detail with reference to fig. 2-5:
in the process S1, the specific operation steps of the institution registration are as follows:
s101, the new organization submits registration information
The new organization first submits its registration information, including organization public key Pk, to the organization contract through the built-in organization client a And mechanism drawingDp described above a 。
S102, generating an address As a Distributing identities
Organization contract based on organization public key Pk a Generating an address As a (a chassis' unique address in a federation blockchain, not repeatable), and assigning a new identity k to the chassis, the chassis may be marked as a accordingly k . If the agency contract detects the address As a If the block chain exists, the current registration fails, otherwise, step S103 is executed.
S103, storing the data to the block chain to complete registration.
Structure contract for identity k and address As a Public key Pk a Description of the mechanism Dp a K | | | As obtained after character string splicing a ||Pk a ||Dp a And storing the result in the alliance block chain, finishing the mechanism registration process and returning a success result.
In the process S2, the specific operation steps of robot registration are as follows:
s201, the new robot submits registration information
The new robot firstly comprises a robot public key Pk through a built-in robot client r Robot type Rt r Robot description Dp r The registration information is submitted to the robot contract.
S202, generating an address As r Distributing identities
The robot contract is based on the received robot public key Pk r Generating a unique address As r As the unique identity of the robot in the block chain of the alliance, and assigning a new identity i to the robot, the corresponding robot can be marked as R i . If the robot contract detects the address As generated at this time r Already on the blockchain, registration fails.
S203, saving the data to the block chain to finish the registration
Robot contract for identity i and public key Pk submitted by robot r Robot type Rt r Robot description Dp r I | Pk r ||Rt r ||Dp r In the form of blocksAnd linking, finishing the registration process and returning a success result.
In the process S3, the step of the robot registered in the frame to distribute the cooperation task is as follows:
s301, submitting task information
When a robot R i When a task is published (as a publisher), the task information including task description is firstly published
Type of helper
And assistor demand
And submitting the contract to the task contract through a built-in robot client.
S302, creating task
After receiving the task information, the task contract firstly judges the robot R i Reputation score of
In relation to v, thereby determining R i Whether honest or not. If it is
Namely, description of R i Being honest, the task contract will create a new task based on the received task information
And setting the initial state of the initialization task to Pending (Pending).
S303, checking robot R i Whether to frequently issue tasks
The task contract determines the robot R according to the task issuing information recorded in the block chain i Whether there are frequently issued tasks, if so, the robot R is explained i An illegal task attack is launched, and the reputation machine is determined according to definition 3Updating rules in manufacturing
Reduction of R i Is assigned to the task, and the task is assigned to the task
The state of (c) is set from Pending (Pending) to Cancelled (Cancelled), and finally a failure result is returned. If R is i If the task is not frequently issued, step S304 is performed.
S304, completing task release
Task contract for integrating tasks
Is updated from Pending (Pending) to not taken (Unclaimed) while the task is taken
And adding the task into the task list, and finally returning the result of successfully issuing the task.
In the process S4, the idle robots in the group apply for receiving tasks as follows:
s401, idle robot R j Application receiving task
When an idle robot R j To be used as an assistor to receive tasks
Firstly, a task receiving application is initiated to a task contract by means of a built-in robot client.
S402, verifying R j Whether to meet task requirements
After receiving the application, the task contract needs to verify the robot R j Reputation score of
Whether or not to satisfy
And the type thereof
Whether or not to satisfy
Second, also needs to check
This requirement, among others
And
respectively refer to received tasks
Number and tasks of robots
The number of robots required. And if the conditions cannot be simultaneously met, returning a failure result. If so, the robot R is specified j Conforming to a receiving task
When the task meets the appointment, the task is assigned
Adding to robot R j And proceeds to step S403.
S403, checking whether to update
Status of state
After completing the above steps, the task contract will also check whether the status of the current task has been met
If the condition is met, the precondition for executing the task is met (namely the number of the robots of the specified type is met), and the task is matched with the date
The state of (2) is changed from un-picked (Unclaimed) to picked (Claimed), and the robot R is sent i And returning a result of successful reception of the task.
In the process S5, after the task is completed, the robot expression task is completed as follows:
s501, initiating voting
Task publisher R i With task assistance
A vote needs to be initiated as a task performer in a same direction to the task contract. Only in favor of tasks
Number of completed task performers
Exceed
Time, task
The task contract is determined to be completed and the step S502 is executed, otherwise the task is determined to be not completed and a failure result is returned.
S502, updating task state
After the vote is completed, and the task is determined
After the completion, the task is matched with the appointment and the task is taken
Update the state of (A) from picked (closed) to completed (Finished) and task(s) are updated
From task List and all task facilitator F' s Is removed from the received task list and proceeds to step S503.
S503, updating the reputation score of the task performer
At task
After completion, the task contract will also improve the reputation scores of all task performers according to the definition 3 reputation mechanism, i.e. perform
In the process S6, whenever a new block is generated in the block chain due to the activities involved in the above processes, the mechanism needs to integrate the information submitted by the robot into global knowledge and write the global knowledge into the block chain, and the specific steps are as follows:
s601, checking timeliness of global knowledge
For robot R i Uploaded global knowledge
The organization contract is first checked
Hash value of
Whether it is equal to the hash value Hv of the latest block L If not, then
Is newly uploaded knowledge, otherwise, it explains
Has been uploaded before and does not need to be used again
Global knowledge is updated.
S602, verifying the validity of the global knowledge
In addition to meeting timeliness, most institutional approval is required
The validity of (2). I.e. only when the global knowledge is agreed
Number of institutions in legitimacy
Only by the organization contract can
Saving to the federation blockchain, if present
The situation of (1) is described
Illegal global knowledge is not integrated into the block chain, and a failure result is returned at the moment; if global knowledge is determined
If it is legal, step S603 is executed.
S603, updating and synchronizing global knowledge
Verifying global knowledge
All the devices belong to the set AS = { A ] after the timeliness and the legality of the devices meet the requirements 1 ，A 2 ，…，A m All the mechanisms in the will keep global knowledge
And after the storage is finished, the global knowledge is considered to be updated completely, and a success result is returned.
Example 3:
FIG. 6 is a graph showing the average execution time of 6 intelligent contract algorithms involved in embodiment 1 of the present invention, in the case of 10, 50, 100, and 200 robots, respectively, and when the number of facilities m =30 and the number of task assistants n i E {1,2}, block proposed time Tb =5s.
Fig. 7 is a comparison graph of the task correct completion rate of the invention in embodiment 1 with the change of the number of robots in an environment with 10% noise (taking the block chain based internet of things infrastructure framework proposed by Ozyilmaz et al as an example).
As can be seen from fig. 6, as the number of robots in a group increases, the technical solution proposed by the present invention can effectively ensure that the implementation algorithm of each intelligent contract still has good stability and low time-consuming expectation of execution under the condition that the number of robots increases.
Now define the correct completion rate P of the task c As follows
Wherein N is o 、N w 、N u The number of tasks completed under the condition of no environmental noise interference, the number of tasks completed under the condition of interference and the number of uncompleted tasks are respectively. As shown in fig. 7, in an environment with 10% noise interference, the correct task completion rate achieved by the technical solution of the present invention is better than that achieved by the block chain-based infrastructure framework of the internet of things proposed by Ozyilmaz et al.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.
Claims (10)
1. A blockchain-based decentralized swarm robotic system framework, comprising:
the robot layer comprises a robot registration manager and a robot task manager; the robot registration manager is used for finishing a robot registration process, managing information of all robots and providing a service for inquiring specific robot information for the robots; the robot task manager is used for providing services related to task operation for the robot, and comprises tasks issuing, receiving and completing;
the mechanism layer comprises a mechanism registration manager and a global knowledge manager; the mechanism registration manager is used for finishing the mechanism registration process, managing the registration information of all the mechanisms and providing the mechanism with the service of inquiring the information of other mechanisms; the global knowledge manager is used for executing the storage and update operation of global knowledge;
a loss detection mechanism, which is used for enabling an individual in the group robot system to judge whether other robots are lost or not by combining a block chain technology and a heartbeat information mechanism;
and the reputation mechanism is used for updating the reputation scores of all the individuals in the group robot system by recording the reputation scores and according to the individual behaviors.
2. The blockchain-based decentralized group robotic system framework according to claim 1, wherein both the organization registration manager and the global knowledge manager are implemented by an organization contract.
3. The blockchain-based decentralized swarm robot framework of claim 1, wherein the loss detection mechanism enables individuals in the robot layer and the mechanism layer to determine whether other robots are lost by combining blockchain technology with a heartbeat information mechanism comprises:
and (3) heartbeat packet generation: the robot first needs toSelecting a random number
And according to the identity i of the user and the hash value Hv of the latest block on the block chain L And generating the heartbeat packet by the current time stamp Ct
Wherein
Is a robot
By means of a private key
The result of the signature is carried out;
sending a heartbeat packet: the robot must send heartbeat packets when a new block is generated
To federation block chains; if the robot fails to complete the transmission for some reason, the heartbeat will be sent
Increasing;
verifying the heartbeat packet: each organization obtains the robot R from the block chain of the alliance i Of (2) a public key
For verifying data fields in heartbeat packets
If the mechanism meeting the proportion requirement recognizes that the heartbeat packet is effective and the signature of the heartbeat packet
If the validity is verified, the robot R is reset i Heartbeat status on the chain
Is 0, otherwise the mechanism should discard the heartbeat packet
If the robot R j Need to determine the robot R i Whether or not to be lost, R j First sending request to block chain of alliance to obtain R i Heart beat state of
When in use
When the robot R is detected, the robot R is considered j The robot R still survives, otherwise, the robot R is considered j Is lost; wherein μ is a threshold value for determining whether the robot is lost;
and (3) loss remediation: if the task publisher R is detected i When the task is lost in the process of executing the task, the task is cancelled
And informs that the task has been received
All helpers of
If as task assistant R j When the task is lost in the process of executing the task, other tasks in idle state in the system are informed and the tasks are met
Required robot to replace R j And ensuring the normal execution of the task.
4. The blockchain-based decentralized group robot system framework of claim 1, wherein the reputation mechanism is configured to update its reputation score according to individual behavior by recording reputation scores of individual entities in the group robot system comprising:
initializing the reputation of the robot: reputation score for each newly registered robot
Are all initialized to a set value;
updating the reputation of the robot: if robot R i The reputation score is updated when an illegal task attack or a work refusal attack is launched
If the robot receives and completes the task normally, the reputation score is updated
Wherein α and β are constants, and α > β;
when in use
When v is used as a threshold value for judging whether the robot is malicious or not, the robot R i Will be considered malicious by other individuals.
5. The blockchain-based decentralized swarm robot system framework according to claim 4, wherein said robot registration manager for being responsible for completing robot registration process and managing all robots' information comprises:
the new robot firstly needs to pass the public key Pk through the robot client r Robot type Rt r Robot description Dp r Submitted to a robot registration manager, the robotThe registration manager will base the robot public key Pk r Generating an address As r Subsequently examining As r Whether the registration exists or not, if so, the registration fails; if not, the robot is assigned with the identity i, namely the robot is marked as R i And i | | As r ||Pk r ||Rt r ||Dp r And storing the data into a block chain, and successfully registering.
6. The blockchain-based decentralized swarm robotic system framework according to claim 4 or 5, wherein said publishing task comprises:
robot R i As a publisher, a task description is first submitted through a robotic client
Task helper types
Number of task facilitators required
To the robot task manager, which will then verify the robot reputation score
Whether or not to satisfy
If it is, then it is said that the robot is benign, then the robot task manager will create a new task whose state is pending
If not, directly refusing to release the task
The robot task manager then needs to check R i Whether the task is frequently issued, and if so, the task is issued
The state is changed to be cancelled, and the robot R is updated i Reputation score of
If R is i If the task is not frequently issued, the manager will
The state of the task is changed into the state of not getting and adding the task into the task list, so far, the task is successfully issued.
7. The blockchain-based decentralized swarm robotic system framework according to claim 6, wherein said receiving task comprises:
when in the idle state, the robot R j To receive a task
Firstly, a request is sent to a robot task manager through a robot client; the robot task manager is based on the robot R j Reputation score of
Verify that it is not a malicious robot while ensuring that robot R i Of type (1)
Satisfy R i Robot types required in published tasks
And the number of robots currently receiving the task
Still less than the number of robots indicated in the task
When all three of the above conditions are satisfied, i.e.
The robot task manager will update
At the same time will
Is added to R j In the received task list, last check
Whether or not to satisfy
If it is
Then the task will be
And updating the state of not getting when the release is successful into the state of getting.
8. The blockchain-based decentralized swarm robotic system framework according to claim 7, wherein said completing a task comprises:
when the task is completed
After, including the publisher R i All the assistants
The task performers within initiate a vote only if most of the task performers agree
Has been completed, i.e.
n i The robot task manager will only assume that the task has been performed for the number of helpers, and will therefore
Is updated from being picked up to being completed and will be moved
Removing from the global task list, and the received task lists of all the helpers; finally, the robot task manager will promote the task publisher and all the assisting robots
Reputation score of (a).
9. The blockchain-based decentralized group robotic system framework according to claim 1, wherein said organization registration manager for being responsible for completing an organization registration process and managing registration information of all organizations comprises:
the new organization first submits the public key Pk including organization public key to the organization register manager through the organization client a And mechanism description Dp a Registration information of the inside; the organization registration manager will rely on the organization public key Pk a Generating a mechanism address, if the mechanism address exists, failing to register, if the mechanism address does not exist in the block chain record, giving the identity k to the mechanism, and packaging k | | | As a ||Pk a ||Dp a And storing the data into the block chain until the mechanism is successfully registered.
10. The blockchain-based decentralized group robotic system framework according to claim 1 or 9, wherein said global knowledge manager for performing global knowledge saving and updating operations comprises:
for robot R i Uploaded global knowledge
The global knowledge manager first checks its hash value
Whether it is equal to the hash value Hv of the latest block L If not, then judge
Is newly uploaded knowledge; in addition, most organizations must agree on
Is considered legal, i.e. when considered
Is the number of legal institutions
m is the total number of organizations in the system, the global knowledge manager saves the global knowledge
Into a federation blockchain.
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