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Abstract
Collaborative inference helps robots to complete large tasks with mutual collaboration in edge-assisted multi-robot systems. It is challenging to provide trusted edge collaborative inference in the presence of malicious nodes. In this article, we propose a blockchain-based collaborative edge knowledge inference (BCEI) framework for edge-assisted multi-robot systems. First, we formulate the inference process at the edge as the collaborative knowledge graph construction and sharing model. Second, to guarantee the trust of knowledge sharing, an efficient knowledge-based blockchain consensus method is presented. Finally, we conduct a case study on the emergency rescue application to evaluate the proposed framework. The experiment results demonstrate the efficiency of the proposed framework in terms of latency and accuracy.
Highlights
M ULTI-ROBOT systems require cooperation among a group of robots for complex tasks
We propose a blockchain-based collaborative edge knowledge inference (BCEI) framework for edge-assisted multirobot systems
Recent knowledge sharing is available for cloud infrastructure but not for edge-assisted systems
Summary
M ULTI-ROBOT systems require cooperation among a group of robots for complex tasks. Such coordination needs the cloud infrastructure, which provides sufficient computing resources for emerging robotic applications [1], [2]. In multi-robot systems, robots need to conduct knowledge sharing-based collaborative inference to complete large and complex tasks [5]. There are security threats to the collaborative inference in edge-assisted multi-robot systems. It is critical to construct a secure environment for knowledge sharing-based collaborative inference in the presence of untrusted and malicious robots. Williams in [9] proposed a graph topology-based strategy that allows multiple mobile robots to move together in the presence of malicious robots Their approach did not consider complex actions in collaborative tasks. We propose a blockchain-based collaborative edge inference (BCEI) framework for edge-assisted multirobot systems. The blockchain is utilized to provide a decentralized approach to maintain traceable and integral knowledge among robots, which is suitable for knowledge sharing for complex tasks in varying environments.
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