security, and may also cause double-flowering problems, lead to an increase in block
size. Sergio Demian Lerner put forward the concept of DagCoin, which merges the
concepts of transactions and blocks and makes each user a miner [11]. The resulting
authenticated data structure is a Direct Acyclic Graph (DAG) of transactions where
each transaction “confirms” one or more previous transactions. In DagCoin network,
the transaction data will not be been packed in block, which saves time for packaged
transactions, effectively reduces the delay of data transmission.
2. block size
The computing and storage performance of different nodes may be different in
blockchain-based autonomous robots network. As the blockchain increases, the amount
of data stored in the blockchain will become larger, which makes some nodes unable to
store the full ledger of transactions anymore. This problem, which the Bitcoin community calls “bloat”. The rapidly expanding data capacity of the blockchain will greatly
limit the application of blockchains in Swarm robots.
Blockchain-based robots network can reduce the amount of transaction data
between nodes by improving the autonomy of nodes, or reduce the data types stored in
the blockchain, large amounts of data store in local nodes, been accessed on demand.
3. throughput
Bitcoin and Ethereum adopt block-based data structures. All the blocks been chained in
blockchain adopting single-chain structure and cannot handle high concurrent requests.
If we reduce the size of block, the speed of block generation will increase, but the
security will be reduced.
An idea is separate different types of data in different blockchain with sidechain,
subchain. For example, the main chain is responsible for token paying, and the DApp
installed on the side chain runs operation data (for example, instruction release),
business data is stored locally and is not written into the blockchain. When relevant
data is needed, the node can access data by querying the relevant node address stored in
blockchain. The hash value of the business data is stored in the subchain for verification. This reduces the amount of interaction data and communication overhead on
bandwidth. In addition, the DAG-based blockchain has a meshed data structure, which
packages transactions and can processes data concurrently, which greatly improves the
throughput of the blockchain, but needs further improvement in terms of security and
consistency.
References
1. Tan Y, Zheng Z (2013) Research advance in swarm robotics defence technology 9:19-9.
http://dx.doi.org/10.1016/j.dt.2013.03.001
2. Garattoni L, Birattari M (2016 15 Aug) Swarm robotics. https://doi.org/10.1002/
047134608X.W8312
3. Nakamoto S (2008) Bitcoin: a peer-to-peer electronic cash system. https://bitcoin.org/
bitcoin.pdf
An Overview of Blockchain-Based Swarm Robotics System
359
size. Sergio Demian Lerner put forward the concept of DagCoin, which merges the
concepts of transactions and blocks and makes each user a miner [11]. The resulting
authenticated data structure is a Direct Acyclic Graph (DAG) of transactions where
each transaction “confirms” one or more previous transactions. In DagCoin network,
the transaction data will not be been packed in block, which saves time for packaged
transactions, effectively reduces the delay of data transmission.
2. block size
The computing and storage performance of different nodes may be different in
blockchain-based autonomous robots network. As the blockchain increases, the amount
of data stored in the blockchain will become larger, which makes some nodes unable to
store the full ledger of transactions anymore. This problem, which the Bitcoin community calls “bloat”. The rapidly expanding data capacity of the blockchain will greatly
limit the application of blockchains in Swarm robots.
Blockchain-based robots network can reduce the amount of transaction data
between nodes by improving the autonomy of nodes, or reduce the data types stored in
the blockchain, large amounts of data store in local nodes, been accessed on demand.
3. throughput
Bitcoin and Ethereum adopt block-based data structures. All the blocks been chained in
blockchain adopting single-chain structure and cannot handle high concurrent requests.
If we reduce the size of block, the speed of block generation will increase, but the
security will be reduced.
An idea is separate different types of data in different blockchain with sidechain,
subchain. For example, the main chain is responsible for token paying, and the DApp
installed on the side chain runs operation data (for example, instruction release),
business data is stored locally and is not written into the blockchain. When relevant
data is needed, the node can access data by querying the relevant node address stored in
blockchain. The hash value of the business data is stored in the subchain for verification. This reduces the amount of interaction data and communication overhead on
bandwidth. In addition, the DAG-based blockchain has a meshed data structure, which
packages transactions and can processes data concurrently, which greatly improves the
throughput of the blockchain, but needs further improvement in terms of security and
consistency.
References
1. Tan Y, Zheng Z (2013) Research advance in swarm robotics defence technology 9:19-9.
http://dx.doi.org/10.1016/j.dt.2013.03.001
2. Garattoni L, Birattari M (2016 15 Aug) Swarm robotics. https://doi.org/10.1002/
047134608X.W8312
3. Nakamoto S (2008) Bitcoin: a peer-to-peer electronic cash system. https://bitcoin.org/
bitcoin.pdf
An Overview of Blockchain-Based Swarm Robotics System
359