Sağlık Hizmetindeki Robotlar İçin Blokzincir Destekli Görev Yönetimi: Webots Simülasyonu

Abstract

In recent years, the adoption of robotic systems has witnessed remarkable growth across diverse industries, revolutionizing various aspects of automation and human-robot interaction. Healthcare is one of the major professions where replacement of human labor with well-functioning service robots would be heavily desired. Mobile service robots in a multi robot system can work collaborately and cooperatively to assist medical personnel by performing work routines as simple or complex tasks. As these robots carry out complex tasks, there arises a crucial need for secure, efficient, and immutable storage mechanisms to manage the vast amount of task-related information generated during their operation. In this study, we propose a simulation where a system of multiple TIAGo++ robots can request and complete simple tasks while using Hyperledger Fabric (HLF) blockchain platform to address the requirements of storing and accessing task information. Communication with the blockchain network and controlling it in Webots environment for a single TIAGo++ robot are integrated into same Java application in this simulation. Experimental results show that HLF and Webots can successfully run concurrently for task allocation and to store data acquired from mobile robots in a multi robot simulation.