Toychain: A Simple Blockchain for Research in Swarm Robotics

TL;DR

Toychain is a lightweight, Python-based blockchain designed for robotics research, enabling integration with simulation tools and real robots, supporting customizable consensus protocols and smart contracts.

Contribution

It introduces a simple, adaptable blockchain framework tailored for robotics research, facilitating deployment and experimentation in simulated and real robotic environments.

Findings

Successfully integrated with ARGoS, Gazebo, and ROS2

Supports smart contracts in Python for robotics applications

Includes Proof-of-Work and Proof-of-Authority consensus protocols

Abstract

This technical report describes the implementation of Toychain: a simple, lightweight blockchain implemented in Python, designed for ease of deployment and practicality in robotics research. It can be integrated with various software and simulation tools used in robotics (we have integrated it with ARGoS, Gazebo, and ROS2), and also be deployed on real robots capable of Wi-Fi communications. The Toychain package supports the deployment of smart contracts written in Python (computer programs that can be executed by and synchronized across a distributed network). The nodes in the blockchain can execute smart contract functions by broadcasting transactions, which update the state of the blockchain upon agreement by all other nodes. The conditions for this agreement are established by a consensus protocol. The Toychain package allows for custom implementations of the consensus protocol, which can be useful for research or meeting specific application requirements. Currently, Proof-of-Work and Proof-of-Authority are implemented.