A blockchain, during its lifetime, records large amounts of data, that in a common usage its kept on its entirety. In a robotics environment, the old information is useful for human evaluation, or oracles interfacing with the blockchain but it is not useful for the robots that require only current information in order to continue their work. This causes a storage problem in blockchain nodes that have limited storage capacity, such as in the case of nodes attached to robots that are usually built around embedded solutions. This paper presents a time-segmentation solution for devices with limited storage capacity, integrated in a particular robot-directed blockchain called RobotChain. Results are presented regarding the proposed solution that show that the goal of restricting each node's capacity is reached without compromising all the benefits that arise from the use of blockchains in these contexts, and on the contrary, it allows for cheap nodes to use this blockchain, reduces storage costs and allows faster deployment of new nodes.
Ferrer @cite_8 presents blockchain technology as a mean to improve robot swarms by solving problems, such as data confidentiality, distributed decision making, dynamic environment working capacity without master control program modification and a mean for legal responsibility for the members of the swarm. This last feature allows "integration" of robotic swarms with the human society.
@cite_8
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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 peer-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 position paper 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. While swarm robotics systems are often claimed to be highly fault-tolerant, so far research has limited its attention to safe laboratory settings and has virtually ignored security issues in the presence of Byzantine robots---i.e., robots with arbitrarily faulty or malicious behavior. However, in many applications one or more Byzantine robots may suffice to let current swarm coordination mechanisms fail with unpredictable or disastrous outcomes. In this paper, we provide a proof-of-concept for managing security issues in swarm robotics systems via blockchain technology. Our approach uses decentralized programs executed via blockchain technology (blockchain-based smart contracts) to establish secure swarm coordination mechanisms and to identify and exclude Byzantine swarm members. We studied the performance of our blockchain-based approach in a collective decision-making scenario both in the presence and absence of Byzantine robots and compared our results to those obtained with an existing collective decision approach. The results show a clear advantage of the blockchain approach when Byzantine robots are part of the swarm. We study verification problems for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. In particular, we focus in this paper on the model proposed by Suzuki and Yamashita of anonymous robots evolving in a discrete space with a finite number of locations (here, a ring). A large number of algorithms have been proposed working for rings whose size is not a priori fixed and can be hence considered as a parameter. Handmade correctness proofs of these algorithms have been shown to be error-prone, and recent attention had been given to the application of formal methods to automatically prove those. Our work is the first to study the verification problem of such algorithms in the parameterized case. We show that safety and reachability problems are undecidable for robots evolving asynchronously. On the positive side, we show that safety properties are decidable in the synchronous case, as well as in the asynchronous case for a particular class of algorithms. Several properties on the protocol can be decided as well. Decision procedures rely on an encoding in Presburger arithmetics formulae that can be verified by an SMT-solver. Feasibility of our approach is demonstrated by the encoding of several case studies. Most popular blockchain solutions, like Bitcoin, rely on proof-of-work, guaranteeing that the output of the consensus is agreed upon with high probability. However, this probability depends on the delivery of messages and that the computational power of the system is sufficiently scattered among pools of nodes in the network so that no pool can mine more blocks faster than the crowd. New approaches, like Ethereum, generalise the proof-of-work approach by letting individuals deploy their own private blockchain with high transaction throughput. As companies are starting to deploy private chains, it has become crucial to better understand the guarantees blockchains offer in such a small and controlled environment. In this paper, we present the , an execution that we experienced when building our private chain at NICTA Data61. Even though this anomaly has never been acknowledged before, it may translate into dramatic consequences for the user of blockchains. Named after the infamous Paxos anomaly, this anomaly makes dependent transactions, like "Bob sends money to Carole after he received money from Alice" impossible. This anomaly relies on the fact that existing blockchains do not ensure consensus safety deterministically: there is no way for Bob to make sure that Alice actually sent him coins without Bob using an external mechanism, like converting these coins into a fiat currency that allows him to withdraw. We also explore smart contracts as a potential alternative to transactions in order to freeze coins, and show implementations of smart contract that can suffer from the Blockchain anomaly and others that may cope with it.