论文标题
VRCHAIN：可视housing和导航机器人的启用区块链的框架
VRChain: A Blockchain-Enabled Framework for Visual Homing and Navigation Robots
论文作者
论文摘要
视觉归宿是一种轻巧的机器人视觉导航方法。基于家居位置的存储视觉信息，可以通过将本位置与当前图像进行比较，可以从任何其他位置来完成此位置的导航。但是，视觉归宿的一个关键挑战是，目标家居位置必须在机器人的视野（FOV）内才能开始归住。因此，这项工作通过将区块链技术集成到视觉归纳导航系统中来应对这一挑战。基于区块链的分散特征，该提出的解决方案使视觉归巢机器人能够共享其视觉归宿信息，并同步访问分散分类帐中的存储数据（视觉归宿信息），以建立导航路径。导航路径表示分类帐中存储的视图序列。如果家庭位置不在FOV中，则建议的解决方案允许机器人找到另一个可以看到家用位置并朝那个所需位置旅行的机器人。评估结果证明了所提出的框架在端到端潜伏期，吞吐量和可扩展性方面的效率。
Visual homing is a lightweight approach to robot visual navigation. Based upon stored visual information of a home location, the navigation back to this location can be accomplished from any other location in which this location is visible by comparing home to the current image. However, a key challenge of visual homing is that the target home location must be within the robot's field of view (FOV) to start homing. Therefore, this work addresses such a challenge by integrating blockchain technology into the visual homing navigation system. Based on the decentralized feature of blockchain, the proposed solution enables visual homing robots to share their visual homing information and synchronously access the stored data (visual homing information) in the decentralized ledger to establish the navigation path. The navigation path represents a per-robot sequence of views stored in the ledger. If the home location is not in the FOV, the proposed solution permits a robot to find another robot that can see the home location and travel towards that desired location. The evaluation results demonstrate the efficiency of the proposed framework in terms of end-to-end latency, throughput, and scalability.
