イベント駆動型FabricブロックチェーンとROS 2のインターフェース：モバイルロボットの安全で監査可能な遠隔操作に向けて
Event-driven Fabric Blockchain -- ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots
許可型ブロックチェーンHyperledger FabricとROS 2を連携させるイベント駆動型ブリッジを設計・実装し、高負荷時でも低遅延な遠隔操作を実現して、小型飛行ロボットの単機・複数機制御で数百ミリ秒の遅延を達成した。
著者: Lei Fu, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund
分類: cs.RO
原文アブストラクト
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is indeed potential for more secure and trustable distributed robotic systems. However, it is still unclear in what aspects of robotics beyond high-level decision making can blockchain technology be indeed usable. This paper explores the limits of a permissioned blockchain framework, Hyperledger Fabric, for teleoperation. Remote operation of mobile robots can benefit from the auditability and security properties of a blockchain. We study the potential benefits and the main limitations of such an approach. We introduce a new design and implementation for a event-driven Fabric-ROS 2 bridge that is able to maintain lower latencies at higher network loads than previous solutions. We also show this opens the door to more realistic use cases and applications. Our experiments with small aerial robots show latencies in the hundreds of milliseconds and simultaneous control of both a single and multi-robot system. We analyze the main trade-offs and limitations for real-world near real-time remote teleoperation.
