Integrating Robotic Navigation with Blockchain: A Novel PoS-Based Approach for Heterogeneous Robotic Teams

Abstract: This work explores a novel integration of blockchain methodologies with Wide Area Visual Navigation (WAVN) to address challenges in visual navigation for a heterogeneous team of mobile robots deployed for unstructured applications in agriculture, forestry, etc. Focusing on overcoming challenges such as GPS independence, environmental changes, and computational limitations, the study introduces the Proof of Stake (PoS) mechanism, commonly used in blockchain systems, into the WAVN framework \cite{Lyons_2022}. This integration aims to enhance the cooperative navigation capabilities of robotic teams by prioritizing robot contributions based on their navigation reliability. The methodology involves a stake weight function, consensus score with PoS, and a navigability function, addressing the computational complexities of robotic cooperation and data validation. This innovative approach promises to optimize robotic teamwork by leveraging blockchain principles, offering insights into the scalability, efficiency, and overall system performance. The project anticipates significant advancements in autonomous navigation and the broader application of blockchain technology beyond its traditional financial context.