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.

翻译：随着多机器人系统不断进步并成为各应用领域不可或缺的组成部分，管理冲突并确保安全访问控制成为亟待解决的关键挑战。访问控制对于多机器人系统至关重要，它可确保机器人之间的安全授权交互、保护敏感数据并防止未经授权访问资源。本文提出一种新颖的框架，用于在基于Hyperledger Fabric区块链的ROS 2多机器人系统中实现可定制的冲突解决与基于属性的访问控制。我们引入了一个基于属性的访问控制(ABAC) Fabric-ROS 2桥接器，以实现用户与机器人之间的安全通信与控制。通过基于任务优先级、机器人能力及用户自定义约束定义冲突解决策略，该框架提供了灵活的冲突解决方式。此外，它融合了基于属性的访问控制，根据用户和机器人属性授予访问权限。与ROS 2中现有访问控制方法（如SROS2）相比，ABAC提供了一种模块化的访问控制方式。通过该框架，多机器人系统可实现高效、安全且自适应的管理，确保对资源的可控访问并协调冲突。实验评估表明，相较于现有的Fabric与ROS 2集成方案，本框架在延迟和吞吐量方面略有提升。在较高网络负载下，它是唯一能在不出现发散的交易提交延迟的情况下稳定运行的解决方案。我们还演示了当两个用户同时控制同一机器人时，框架如何实时解决冲突并有效消除运动畸变。