Collaborative inference helps robots to complete large tasks with mutual collaboration in edge-assisted multi-robot systems. It is challenging to provide trusted edge collaborative inference in the presence of malicious nodes. In this article, we propose a blockchain-based collaborative edge knowledge inference (BCEI) framework for edge-assisted multi-robot systems. First, we formulate the inference process at the edge as the collaborative knowledge graph construction and sharing model. Second, to guarantee the trust of knowledge sharing, an efficient knowledge-based blockchain consensus method is presented. Finally, we conduct a case study on the emergency rescue application to evaluate the proposed framework. The experiment results demonstrate the efficiency of the proposed framework in terms of latency and accuracy.

中文翻译：

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用于协作任务的多机器人系统的基于区块链的信任边缘知识推理

协同推理通过边缘辅助多机器人系统中的相互协作帮助机器人完成大型任务。在存在恶意节点的情况下提供可信边缘协作推理具有挑战性。在本文中，我们为边缘辅助多机器人系统提出了一种基于区块链的协作边缘知识推理 (BCEI) 框架。首先，我们将边缘的推理过程制定为协作知识图谱构建和共享模型。其次，为了保证知识共享的信任，提出了一种高效的基于知识的区块链共识方法。最后，我们对紧急救援应用程序进行了案例研究，以评估所提出的框架。实验结果证明了所提出的框架在延迟和准确性方面的效率。