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Grex: A Decentralized Hive Mind

Alex Khawalid, Dan Acristinii, Hans Van Toor, Eduardo Castelló Ferrer
2019 Ledger  
Castelló Ferrer et al.  ...  The inspiration for this paper came from "The Blockchain: A New Framework for Robotic Swarm Systems," written by Eduardo Castelló Ferrer. 5 This paper aims to demonstrate the feasibility of implementing  ... 
doi:10.5195/ledger.2019.176 fatcat:ojm2pl2tifd3zfj4ml7d6ubq6m

A wearable general-purpose solution for Human-Swarm Interaction [article]

Eduardo Castelló Ferrer
2017 arXiv   pre-print
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet effectively convey their high-level intentions to a group of robots in application. This work proposes a new human-swarm interface based on novel wearable gesture-control and haptic-feedback devices. This work seeks to combine a wearable gesture recognition device
more » ... that can detect high-level intentions, a portable device that can detect Cartesian information and finger movements, and a wearable advanced haptic device that can provide real-time feedback. This project is the first to envisage a wearable Human-Swarm Interaction (HSI) interface that separates the input and feedback components of the classical control loop (input, output, feedback), as well as being the first of its kind suitable for both indoor and outdoor environments.
arXiv:1704.08393v1 fatcat:7z3qvg6aqrb7xgrpm3iu7p3uwq

Foundational Oracle Patterns: Connecting Blockchain to the Off-chain World [article]

Roman Mühlberger, Stefan Bachhofner, Eduardo Castelló Ferrer, Claudio Di Ciccio, Ingo Weber, Maximilian Wöhrer, Uwe Zdun
2020 arXiv   pre-print
Castelló Ferrer acknowledges support from the Marie Skłodowska-Curie actions (EU project BROS-DLV-751615). The work of C.  ... 
arXiv:2007.14946v1 fatcat:vfcwtvdwubehbpcc4a7b72f56m

Editorial: Proceedings of the First Symposium on Blockchain and Robotics, MIT Media Lab, 5 December 2018

Eduardo Castelló Ferrer, Thomas Hardjono, Alex Pentland
2019 Ledger  
Eduardo Castello is a postdoctoral researcher (Marie Curie Fellow) at the MIT Media Lab. Eduardo is currently working with Prof. Alex ('Sandy') Pentland and Prof.  ...  Eduardo received his B.Sc.(Hons) Intelligent Systems from Portsmouth University (UK) and his M.Eng. and Ph.D. degrees in Robotics Engineering from Osaka University (Japan). Dr.  ... 
doi:10.5195/ledger.2019.179 fatcat:t43wgrybfbhkbo57al3atpsi5e

Robotic Services for New Paradigm Smart Cities Based on Decentralized Technologies

Aleksandr Kapitonov, Sergey Lonshakov, Ivan Berman, Eduardo Castelló Ferrer, Fabio P Bonsignorio, Vitaly Bulatov, Aleksandr Svistov
2019 Ledger  
Ferrer, E., Rudovic, O., Hardjono, T., Pentland, A.  ...  liability Smart contracts of factory Delivery request Hash Hash Product Delivery Demand Customer Smart Factory Hash Hash ISSN 2379-5980 (online) DOI 10.5195/LEDGER.2019.177 Castelló  ... 
doi:10.5195/ledger.2019.177 fatcat:cmsuiqw7enc5lho7jsctlnyx6e

Following Leaders in Byzantine Multirobot Systems by Using Blockchain Technology

Eduardo Castello Ferrer, Ernesto Jimenez, Jose Luis Lopez-Presa, Javier Martin-Rueda
2021 IEEE Transactions on robotics  
Interest in multirobot systems is rising rapidly both in academia and in industry. The use of multiple robots working in a coordinated way, rather than a single robot, has several advantages in a diverse range of applications. However, few studies have focused on operations in which robots can behave maliciously and alter the outcome of the collective mission. In this article, we present a set of Byzantine Follow The Leader (BFTL) problems, in which a subset of robots in the system shows
more » ... ded or inconsistent behavior (i.e., Byzantine robots). In the BFTL problems, leaders discover routes from their starting positions to specific destinations and guide the followers, while Byzantine robots try to hinder the leaders and mislead the followers. In this research, blockchain technology is used as a communication tool within multirobot systems, for leaders to broadcast directions to the whole group. We propose algorithms to tackle the BFTL problems, prove their correctness, and validate them in simulated experiments of realistic scenarios. Results show that the proposed algorithms mitigate the impact of Byzantine robots in multirobot systems conducting a BFTL mission. Our analysis provides minimum and maximum boundary calculations for important metrics including number of robots reaching their destination, number of steps taken, and weight requirements of the chain used during the mission. Our results provide a path toward the deployment of byzantine-resistant real-world multirobot systems.
doi:10.1109/tro.2021.3104243 fatcat:7tenktugifaordfjaitxjsxgiy

Personal Food Computer: A new device for controlled-environment agriculture [article]

Eduardo Castelló Ferrer, Jake Rye, Gordon Brander, Tim Savas, Douglas Chambers, Hildreth England, Caleb Harper
2017 arXiv   pre-print
Due to their interdisciplinary nature, devices for controlled-environment agriculture have the possibility to turn into ideal tools not only to conduct research on plant phenology but also to create curricula in a wide range of disciplines. Controlled-environment devices are increasing their functionalities as well as improving their accessibility. Traditionally, building one of these devices from scratch implies knowledge in fields such as mechanical engineering, digital electronics,
more » ... g, and energy management. However, the requirements of an effective controlled environment device for personal use brings new constraints and challenges. This paper presents the OpenAg Personal Food Computer (PFC); a low cost desktop size platform, which not only targets plant phenology researchers but also hobbyists, makers, and teachers from elementary to high-school levels (K-12). The PFC is completely open-source and it is intended to become a tool that can be used for collective data sharing and plant growth analysis. Thanks to its modular design, the PFC can be used in a large spectrum of activities.
arXiv:1706.05104v1 fatcat:e3x46kuznjezvdzlkqw26g6oyy

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Jorge Pena Queralta, Li Qingqing, Eduardo Castello Ferrer, Tomi Westerlund
2022 IEEE Internet of Things Journal  
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyberphysical systems: they can operate in virtual, physical, and human realms. Therefore, securing the operations of autonomous robots requires not only securing their data (e.g., sensor inputs and mission instructions) but securing their interactions with their environment. There is currently a deficiency of methods that would allow robots to
more » ... curely ensure their sensors and actuators are operating correctly without external feedback. This paper introduces an encoding method and end-to-end validation framework for the missions of autonomous robots. In particular, we present a proof of concept of a map encoding method, which allows robots to navigate realistic environments and validate operational instructions with almost zero a priori knowledge. We demonstrate our framework using two different encoded maps in experiments with simulated and real robots. Our encoded maps have the same advantages as typical landmark-based navigation, but with the added benefit of cryptographic hashes that enable end-to-end information validation. Our method is applicable to any aspect of robotic operation in which there is a predefined set of actions or instructions given to the robot.
doi:10.1109/jiot.2022.3164545 fatcat:73gqphquwrfgnekb6yx6vuk5hy

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots [article]

Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer, Tomi Westerlund
2020 arXiv   pre-print
A relevant precedent in securing multi-robot cooperation was introduced by Castell Ferrer et al. in [7] , where the authors leveraged Merkle trees to cope with byzantine robots in cooperative missions  ... 
arXiv:2009.01341v1 fatcat:izxt42mcdfbmvduhndfq2ya25i

The blockchain: a new framework for robotic swarm systems [article]

Eduardo Castelló Ferrer
2016 arXiv   pre-print
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. However, several of the heterogeneous characteristics that make them ideal for certain future applications --- robot autonomy, decentralized control, collective emergent behavior, etc. --- hinder the evolution of the technology from academic institutions to real-world problems. Blockchain, an emerging technology originated in the Bitcoin field, demonstrates that by combining
more » ... er-to-peer networks with cryptographic algorithms a group of agents can reach an agreement on a particular state of affairs and record that agreement without the need for a controlling authority. The combination of blockchain with other distributed systems, such as robotic swarm systems, can provide the necessary capabilities to make robotic swarm operations more secure, autonomous, flexible and even profitable. This work explains how blockchain technology can provide innovative solutions to four emergent issues in the swarm robotics research field. New security, decision making, behavior differentiation and business models for swarm robotic systems are described by providing case scenarios and examples. Finally, limitations and possible future problems that arise from the combination of these two technologies are described.
arXiv:1608.00695v3 fatcat:qnxwvjq7mrckhf4ojszspakxkm

RoboChain: A Secure Data-Sharing Framework for Human-Robot Interaction [article]

Eduardo Castelló Ferrer, Ognjen Rudovic, Thomas Hardjono, Alex Pentland
2018 arXiv   pre-print
Robots have potential to revolutionize the way we interact with the world around us. One of their largest potentials is in the domain of mobile health where they can be used to facilitate clinical interventions. However, to accomplish this, robots need to have access to our private data in order to learn from these data and improve their interaction capabilities. Furthermore, to enhance this learning process, the knowledge sharing among multiple robot units is the natural step forward. However,
more » ... to date, there is no well-established framework which allows for such data sharing while preserving the privacy of the users (e.g., the hospital patients). To this end, we introduce RoboChain - the first learning framework for secure, decentralized and computationally efficient data and model sharing among multiple robot units installed at multiple sites (e.g., hospitals). RoboChain builds upon and combines the latest advances in open data access and blockchain technologies, as well as machine learning. We illustrate this framework using the example of a clinical intervention conducted in a private network of hospitals. Specifically, we lay down the system architecture that allows multiple robot units, conducting the interventions at different hospitals, to perform efficient learning without compromising the data privacy.
arXiv:1802.04480v3 fatcat:oomvbwdy2nhevgub4bbdywwmya

Secure and secret cooperation in robotic swarms [article]

Eduardo Castelló Ferrer and Thomas Hardjono and Alex 'Sandy' Pentland and Marco Dorigo
2021 arXiv   pre-print
The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be developed. This work introduces a novel method to encapsulate cooperative robotic missions in an authenticated data structure known as Merkle tree. With this method, operators can provide the "blueprint" of the swarm's mission without disclosing its raw
more » ... In other words, data verification can be separated from data itself. We propose a system where robots in a swarm, to cooperate towards mission completion, have to "prove" their integrity to their peers by exchanging cryptographic proofs. We show the implications of this approach for two different swarm robotics missions: foraging and maze formation. In both missions, swarm robots were able to cooperate and carry out sequential operations without having explicit knowledge about the mission's high-level objectives. The results presented in this work demonstrate the feasibility of using Merkle trees as a cooperation mechanism for swarm robotics systems in both simulation and real-robot experiments, which has implications for future decentralized robotics applications where security plays a crucial role such as environmental monitoring, infrastructure surveillance, and disaster management.
arXiv:1904.09266v3 fatcat:qntdopflhfew5p6cmpwps2avvu

Blockchain Technology Secures Robot Swarms: A Comparison of Consensus Protocols and Their Resilience to Byzantine Robots

Volker Strobel, Eduardo Castelló Ferrer, Marco Dorigo
2020 Frontiers in Robotics and AI  
Castelló Ferrer (2016) was the first to describe a variety of use cases for using a blockchain in robot swarms, such as secure communication, data logging, and consensus agreement.  ... 
doi:10.3389/frobt.2020.00054 pmid:33501222 pmcid:PMC7806104 fatcat:akkh7jbsl5apflvpfnx63rijtu

Urban Swarms: A new approach for autonomous waste management [article]

Antonio Luca Alfeo, Eduardo Castelló Ferrer, Yago Lizarribar Carrillo, Arnaud Grignard, Luis Alonso Pastor, Dylan T. Sleeper, Mario G. C. A. Cimino, Bruno Lepri, Gigliola Vaglini, Kent Larson, Marco Dorigo, Alex `Sandy' Pentland
2019 arXiv   pre-print
The similarity among these examples is that robots always leave from and return to a common Corresponding author: Eduardo Castelló Ferrer, central location (e.g., nest, headquarters  ... 
arXiv:1810.07910v2 fatcat:5dqyew2u6nfnff6jysanmmffcq

Urban Swarms: A new approach for autonomous waste management

Antonio Luca Alfeo, Eduardo Castello Ferrer, Yago Lizarribar Carrillo, Arnaud Grignard, Luis Alonso Pastor, Dylan T. Sleeper, Mario G. C. A. Cimino, Bruno Lepri, Gigliola Vaglini, Kent Larson, Marco Dorigo, Alex lSandy' Pentland
2019 2019 International Conference on Robotics and Automation (ICRA)  
The similarity among these examples is that robots always leave from and return to a common Corresponding author: Eduardo Castelló Ferrer, central location (e.g., nest, headquarters  ... 
doi:10.1109/icra.2019.8794020 dblp:conf/icra/AlfeoFCGPSCLVLD19 fatcat:pkanfe4syfadbjz4gjj3tbxexi
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