A Customizable Conflict Resolution and Attribute-Based Access Control Framework for Multi-Robot Systems

As multi-robot systems continue to advance and become integral to various applications, managing conflicts and ensuring secure access control are critical challenges that need to be addressed. Access control is essential in multi-robot systems to ensure secure and authorized interactions among robots, protect sensitive data, and prevent unauthorized access to resources. This paper presents a novel framework for customizable conflict resolution and attribute-based access control in multi-robot systems for ROS 2 leveraging the Hyperledger Fabric blockchain. We introduce an attribute-based access control (ABAC) Fabric-ROS 2 bridge to enable secure communication and control between users and robots. By defining conflict resolution policies based on task priorities, robot capabilities, and user-defined constraints, our framework offers a flexible way to resolve conflicts. Additionally, it incorporates attribute-based access control, granting access rights based on user and robot attributes. ABAC offers a modular approach to control access compared to existing access control approaches in ROS 2, such as SROS2. Through this framework, multi-robot systems can be managed efficiently, securely, and adaptably, ensuring controlled access to resources and managing conflicts. Our experimental evaluation shows that our framework marginally improves latency and throughput over exiting Fabric and ROS 2 integration solutions. At higher network load, it is the only solution to operate reliably without a diverging transaction commitment latency. We also demonstrate how conflicts arising from simultaneous control or a robot by two users are resolved in real-time and motion distortion is effectively eliminated

Decentralized Vision-Based Byzantine Agent Detection in Multi-Robot Systems with IOTA Smart Contracts

Multiple opportunities lie at the intersection of multi-robot systems and distributed ledger technologies (DLTs). In this work, we investigate the potential of new DLT solutions such as IOTA, for detecting anomalies and byzantine agents in multi-robot systems in a decentralized manner. Traditional blockchain approaches are not applicable to real-world networked and decentralized robotic systems where connectivity conditions are not ideal. To address this, we leverage recent advances in partition-tolerant and byzantine-tolerant collaborative decision-making processes with IOTA smart contracts. We show how our work in vision-based anomaly and change detection can be applied to detecting byzantine agents within multiple robots operating in the same environment. We show that IOTA smart contracts add a low computational overhead while allowing to build trust within the multi-robot system. The proposed approach effectively enables byzantine robot detection based on the comparison of images submitted by the different robots and detection of anomalies and changes between them

Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems deployed from edge to cloud. This paper reviews new architectures and technologies that enable containerized robotic applications to seamlessly run at the edge or in the cloud. We also overview systems that include solutions from extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2. Another important trend is robot learning, and how new simulators and cloud simulations are enabling, e.g., large-scale reinforcement learning or distributed federated learning solutions. This has also enabled deeper integration of continuous interaction and continuous deployment (CI/CD) pipelines for robotic systems development, going beyond standard software unit tests with simulated tests to build and validate code automatically. We discuss the current technology readiness and list the potential new application scenarios that are becoming available. Finally, we discuss the current challenges in distributed robotic systems and list open research questions in the field

Comparison of total phenolic and antioxidant activity of different Mentha spicata and M. longifolia accessions

This study investigated total phenolic and antioxidant activity of five Iranian mint accessions from two different species, Mentha spicata L. (Mzin1, Mzin3 and Mzin8) and M. longifolia L. (Mzin5 and Mzin6). The content of total phenolics (mg tannic acid equivalent per g dry weight of the sample) differed from 50.1 in Mzin3 to 67.2 in Mzin6. The highest percent radical scavenging activity was observed with Mzin6 at all concentrations studied (50, 100, 250, and 500 ppm). Peroxide value of sunflower oil containing Mzin5 and Mzin6 was the lowest among the mint accessions and almost equivalent to that of butylated hydroxytoluene at 200 ppm concentration. In overall, M. longifolia was superior to M. spicata, as determined by two model systems, indicating its potential use as a natural source of dietary antioxidant

MyoRing implantation in keratoconic patients: 3 years follow-up data

Purpose: To evaluate long-term follow-up data on implantation of a full-ring intra-corneal implant (MyoRing) for management of keratoconus. Methods: A total of 40 keratoconic eyes of 37 consecutive patients who had undergone MyoRing implantation using the Pocket Maker microkeratome (Dioptex, GmbH, Linz, Austria) and completed 3 years of follow-up appointments were included in this retrospective study. Uncorrected distance visual acuity (UDVA), corrected distance visual acuity (CDVA), refraction and keratometry (K) readings were measured and evaluated preoperatively, and 3 years, postoperatively. Results: No intraoperative complications were observed in this case series. Three years postoperatively, there was a significant improvement in UDVA, CDVA, K readings, spherical equivalent (SE), and manifest sphere and cylinder (P < 0.05 for all comparisons). UDVA was significantly improved from 1.14 ± 0.27 to 0.30 ± 0.21 LogMAR (P = 0.001), CDVA was also improved from 0.52 ± 0.23 to 0.18 ± 0.12 LogMAR (P = 0.001), SE was decreased by 4.35 diopters (D) and average keratometric values were reduced by 2.34 D (P = 0.001). Overall, 81% of subjects were moderately to highly satisfied 3 years after surgery and 64.90% agreed to have the fellow eye implanted with MyoRing. Conclusion: MyoRing implantation using the Pocket Maker microkeratome was found to be a minimally invasive procedure for improving visual acuity and refraction in the majority of the patients with keratoconus