A Fast and Robust Solution for Common Knowledge Formation in Decentralized Swarm Robots

Luo, Jie; Shu, Xiao; Zhai, Yuanzhao; Fu, Xiang; Ding, Bo; Xu, Jie

doi:10.1007/s10846-022-01759-1

Cited by 3 publications

(8 citation statements)

References 31 publications

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“…When the network topology of a split, a merge or a mix occurs, the involved nodes process reconfiguration, leader elections and chain updates via the RAFT in different partitions. Luo et al [13] presented a hashgraph-based solution for common knowledge formation in decentralized swarm robots. Swarm robots within a group reach consensus via hashgraph, and the ranger robot with powerful capabilities in communication and mobility establishes the connection among groups.…”

Section: Manet-based Blockchainmentioning

confidence: 99%

“…The integration of blockchain and MANET improves both MANET security and blockchain adaptability. Nowadays, the blockchain is explored to build on MANETs [6][7][8][9], and its applications involve incentive data collection [10], secure resources sharing [11][12][13], and an expansion of cryptocurrency [14,15]. A MANET-based blockchain is geographically closer to end users than the blockchain based on edge computing, so it is envisioned to provide more safety and privacy protection.…”

Section: Introductionmentioning

confidence: 99%

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A Robust Sharding-Enabled Blockchain with Efficient Hashgraph Mechanism for MANETs

Lai

Zhao

et al. 2023

Applied Sciences

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Blockchain establishes security and trust in mobile ad hoc networks (MANETs). Due to the decentralized and opportunistic communication characteristics of MANETs, hashgraph consensus is more applicable to the MANET-based blockchain. Sharding scales the consensus further through disjoint nodes in multiple shards simultaneously updating ledgers. However, the dynamic addition and deletion of nodes in a shard pose challenges regarding robustness and efficiency. Particularly, the shard is vulnerable to Sybil attacks and targeted attacks, and dishonest gossip reduces the efficiency of hashgraph consensus. Therefore, we proposed a behavior-based sharding hashgraph scheme. First, dishonest behaviors of nodes are recorded in a decentralized blacklist. Gossip information is sent to a reliable neighbor, and gossip information from another reliable neighbor is received. Second, a tree-assisted inter-sharding consensus is proposed to prevent Sybil attacks. The combination of shard recovery and reconfiguration based on node state is devised to prevent targeted attacks. Finally, we conducted the performance evaluation including security analysis and experimental evaluation to reveal the security and efficiency of the proposed scheme.

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Section: Manet-based Blockchainmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Robust Sharding-Enabled Blockchain with Efficient Hashgraph Mechanism for MANETs

Lai

Zhao

et al. 2023

Applied Sciences

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“…In the same way, to address issues related to Byzantine tolerance and decision making under partition tolerance, a distributed control strategy has been devised using IoT and ROS2 [32]. Likewise, to empower swarm robots in identifying malicious robots and data, a knowledge validation-based algorithm has been proposed that utilizes Hashgraph [33].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Resilient Control of Multi-Robot Systems with a Leader–Follower Model under Byzantine Attacks in the Context of the Industrial Internet of Things

Nasir,

Maiti

2024

Machines

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In this paper, an adaptive and resilient consensus control mechanism for multi-robot systems under Byzantine attack, based on sliding mode control, is proposed. The primary aim of the article is to develop a finite-time consensus control strategy even in the presence of a Byzantine attack. In the start, a finite-time consensus control mechanism is proposed to identify the essential conditions required for ensuring consensus accuracy in multi-robot systems, even when faced with Byzantine attacks using Lyapunov theory. Subsequently, a sliding mode control is combined with an adaptive technique for multi-robot systems that lack prior knowledge of Byzantine attack. Later, an attack observer is proposed to estimate the performance of multi-robot systems in the presence of a Byzantine attack. Additionally, chattering effects are mitigated by employing integral sliding mode control. As a result, resilient consensus performance of multi-robot systems can be achieved in a finite time interval. A simulation example is also presented to validate the effectiveness of the proposed model. Furthermore, we delve into the data structure of the proposed method and explore its integration with Artificial Intelligence for seamless incorporation into the Industrial Internet of Things applications.

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“…Contemporary efforts by [28] propose a hash-graph-based framework for common knowledge. Although there is a recognised need for a common knowledge base in the research space, no consensus has been reached on the ideal solution.…”

mentioning

confidence: 99%

“…Although there is a recognised need for a common knowledge base in the research space, no consensus has been reached on the ideal solution. Referring back to [28], an early consideration was the use of blockchain for a common knowledge base. One identified weakness of this idea revolved around the "majority attack", in which a single entity controls 50 percent of the network and, consequently, dictates the entire blockchain.…”

mentioning

confidence: 99%

Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics

et al. 2023

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Robotic agents are now ubiquitous in both home and work environments; moreover, the degree of task complexity they can undertake is also increasing exponentially. Now that advanced robotic agents are commonplace, the question for utilisation becomes how to enable collaboration of these agents, and indeed, many have considered this over the last decade. If we can leverage the heterogeneous capabilities of multiple agents, not only can we achieve more complex tasks, but we can better position the agents in more chaotic environments and compensate for lacking systems in less sophisticated agents. Environments such as search and rescue, agriculture, autonomous vehicles, and robotic maintenance are just a few examples of complex domains that can leverage collaborative robotics. If the use of a robotic agent is fruitful, the question should be: How can we provide a world state and environment mapping, combined with a communication method, that will allow these robotic agents to freely communicate? Moreover, how can this be decentralised such that agents can be introduced to new and existing environments already understood by other agents? The key problem that is faced is the communication method; however, when looking deeper we also need to consider how the change of an environment is mapped while considering that there are multiple differing sensors. To this end, we present the voxel grid approach for use in a decentralised robotic colony. To validate this, results are presented to show how the single-agent and multiagent systems compare.

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A Fast and Robust Solution for Common Knowledge Formation in Decentralized Swarm Robots

Cited by 3 publications

References 31 publications

A Robust Sharding-Enabled Blockchain with Efficient Hashgraph Mechanism for MANETs

A Robust Sharding-Enabled Blockchain with Efficient Hashgraph Mechanism for MANETs

Adaptive Sliding Mode Resilient Control of Multi-Robot Systems with a Leader–Follower Model under Byzantine Attacks in the Context of the Industrial Internet of Things

Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics

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