{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:27:48Z","timestamp":1766068068389,"version":"3.40.3"},"publisher-location":"Cham","reference-count":56,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783031709319"},{"type":"electronic","value":"9783031709326"}],"license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024]]},"DOI":"10.1007\/978-3-031-70932-6_4","type":"book-chapter","created":{"date-parts":[[2024,9,14]],"date-time":"2024-09-14T08:03:00Z","timestamp":1726300980000},"page":"42-56","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Byzantine Fault Detection in\u00a0Swarm-SLAM Using Blockchain and\u00a0Geometric Constraints"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-2100-5225","authenticated-orcid":false,"given":"Angelo","family":"Moroncelli","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5933-3553","authenticated-orcid":false,"given":"Alexandre","family":"Pacheco","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2974-9827","authenticated-orcid":false,"given":"Volker","family":"Strobel","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7495-8567","authenticated-orcid":false,"given":"Pierre-Yves","family":"Lajoie","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3971-0507","authenticated-orcid":false,"given":"Marco","family":"Dorigo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4745-992X","authenticated-orcid":false,"given":"Andreagiovanni","family":"Reina","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,9,15]]},"reference":[{"key":"4_CR1","series-title":"Advances in Intelligent Systems and Computing","doi-asserted-by":"publisher","first-page":"170","DOI":"10.1007\/978-3-030-26945-6_16","volume-title":"Robotics in Education","author":"R Amsters","year":"2020","unstructured":"Amsters, R., Slaets, P.: Turtlebot 3 as a robotics education platform. In: Merdan, M., Lepuschitz, W., Koppensteiner, G., Balogh, R., Obdr\u017e\u00e1lek, D. (eds.) RiE 2019. AISC, vol. 1023, pp. 170\u2013181. Springer, Cham (2020). https:\/\/doi.org\/10.1007\/978-3-030-26945-6_16"},{"key":"4_CR2","unstructured":"Aswale, A., L\u00f3pez, A., Ammartayakun, A., Pinciroli, C.: Hacking the colony: on the disruptive effect of misleading pheromone and how to defend against it. In: AAMAS 2022: Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems, pp. 27\u201334. IFAAMAS, Richland, SC (2022)"},{"issue":"6","key":"4_CR3","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1177\/027836498800700605","volume":"7","author":"N Ayache","year":"1988","unstructured":"Ayache, N., Faugeras, O.: Building, registrating and fusing noisy visual maps. Int. J. Robot. Res. 7(6), 45\u201365 (1988). https:\/\/doi.org\/10.1177\/027836498800700605","journal-title":"Int. J. Robot. Res."},{"key":"4_CR4","doi-asserted-by":"publisher","unstructured":"Campos, M., Chanel, C., Chauffaut, C., Lacan, J.: Towards a blockchain-based multi-UAV surveillance system. Front. Robot. AI 8, 557692 (2021). https:\/\/doi.org\/10.3389\/frobt.2021.557692","DOI":"10.3389\/frobt.2021.557692"},{"key":"4_CR5","doi-asserted-by":"publisher","unstructured":"Chang, Y., et al.: LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments. IEEE Robot. Autom. Lett. 9175\u20139182 (2022). https:\/\/doi.org\/10.1109\/LRA.2022.3191204","DOI":"10.1109\/LRA.2022.3191204"},{"issue":"6","key":"4_CR6","doi-asserted-by":"publisher","first-page":"653","DOI":"10.3390\/machines11060653","volume":"11","author":"W Chen","year":"2023","unstructured":"Chen, W., et al.: Overview of multi-robot collaborative SLAM from the perspective of data fusion. Machines 11(6), 653 (2023). https:\/\/doi.org\/10.3390\/machines11060653","journal-title":"Machines"},{"key":"4_CR7","doi-asserted-by":"publisher","unstructured":"Cieslewski, T., Choudhary, S., Scaramuzza, D.: Data-efficient decentralized visual SLAM. In: Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 2466\u20132473. IEEE (2018).https:\/\/doi.org\/10.1109\/ICRA.2018.8461155","DOI":"10.1109\/ICRA.2018.8461155"},{"key":"4_CR8","doi-asserted-by":"publisher","unstructured":"Cramariuc, A., et al.: maplab 2.0 \u2013 a modular and multi-modal mapping framework. IEEE Robot. Autom. Lett. 8(2), 520\u2013527 (2023). https:\/\/doi.org\/10.1109\/lra.2022.3227865","DOI":"10.1109\/lra.2022.3227865"},{"key":"4_CR9","doi-asserted-by":"publisher","unstructured":"Crowley, J.L.: World modeling and position estimation for a mobile robot using ultrasonic ranging. In: Proceedings of the 1989 International Conference on Robotics and Automation (ICRA), vol.\u00a02, pp. 674\u2013680 (1989).https:\/\/doi.org\/10.1109\/ROBOT.1989.100062","DOI":"10.1109\/ROBOT.1989.100062"},{"issue":"4","key":"4_CR10","doi-asserted-by":"publisher","first-page":"264","DOI":"10.1038\/s44287-024-00034-9","volume":"1","author":"M Dorigo","year":"2024","unstructured":"Dorigo, M., Pacheco, A., Reina, A., Strobel, V.: Blockchain technology for mobile multi-robot systems. Nat. Rev. Electr. Eng. 1(4), 264\u2013274 (2024). https:\/\/doi.org\/10.1038\/s44287-024-00034-9","journal-title":"Nat. Rev. Electr. Eng."},{"issue":"7","key":"4_CR11","doi-asserted-by":"publisher","first-page":"1152","DOI":"10.1109\/JPROC.2021.3072740","volume":"109","author":"M Dorigo","year":"2021","unstructured":"Dorigo, M., Theraulaz, G., Trianni, V.: Swarm robotics: past, present, and future [point of view]. Proc. IEEE 109(7), 1152\u20131165 (2021). https:\/\/doi.org\/10.1109\/JPROC.2021.3072740","journal-title":"Proc. IEEE"},{"issue":"2","key":"4_CR12","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1109\/MRA.2006.1638022","volume":"13","author":"H Durrant-Whyte","year":"2006","unstructured":"Durrant-Whyte, H., Bailey, T.: Simultaneous localization and mapping: part i. IEEE Robot. Autom. Mag. 13(2), 99\u2013110 (2006). https:\/\/doi.org\/10.1109\/MRA.2006.1638022","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"4_CR13","doi-asserted-by":"publisher","first-page":"288","DOI":"10.1145\/42282.42283","volume":"35","author":"C Dwork","year":"1988","unstructured":"Dwork, C., Lynch, N., Stockmeyer, L.: Consensus in the presence of partial synchrony. J. ACM 35(2), 288\u2013323 (1988). https:\/\/doi.org\/10.1145\/42282.42283","journal-title":"J. ACM"},{"key":"4_CR14","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1007\/978-3-319-10605-2_54","volume-title":"Computer Vision \u2013 ECCV 2014","author":"J Engel","year":"2014","unstructured":"Engel, J., Sch\u00f6ps, T., Cremers, D.: LSD-SLAM: large-scale direct monocular SLAM. In: Fleet, D., Pajdla, T., Schiele, B., Tuytelaars, T. (eds.) ECCV 2014. LNCS, vol. 8690, pp. 834\u2013849. Springer, Cham (2014). https:\/\/doi.org\/10.1007\/978-3-319-10605-2_54"},{"key":"4_CR15","doi-asserted-by":"publisher","unstructured":"Fernandez-Cortizas, M., Bavle, H., Perez-Saura, D., Sanchez-Lopez, J.L., Campoy, P., Voos, H.: Multi S-graphs: an efficient distributed semantic-relational collaborative SLAM. IEEE Robot. Autom. Lett. 9(6), 6004\u20136011 (2022). https:\/\/doi.org\/10.1109\/LRA.2024.3399997","DOI":"10.1109\/LRA.2024.3399997"},{"key":"4_CR16","unstructured":"Grupp, M.: EVO: python package for the evaluation of odometry and SLAM. https:\/\/github.com\/MichaelGrupp\/evo (2017)"},{"key":"4_CR17","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1109\/LRA.2017.2654550","volume":"2","author":"L Guerrero-Bonilla","year":"2017","unstructured":"Guerrero-Bonilla, L., Prorok, A., Kumar, V.: Formations for resilient robot teams. IEEE Robot. Autom. Lett. 2, 841\u2013848 (2017). https:\/\/doi.org\/10.1109\/LRA.2017.2654550","journal-title":"IEEE Robot. Autom. Lett."},{"key":"4_CR18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74528-2","volume-title":"Swarm Robotics: A Formal Approach","author":"H Hamann","year":"2018","unstructured":"Hamann, H.: Swarm Robotics: A Formal Approach. Springer, Cham (2018). https:\/\/doi.org\/10.1007\/978-3-319-74528-2"},{"key":"4_CR19","doi-asserted-by":"publisher","unstructured":"Higgins, F., Tomlinson, A., Martin, K.M.: Survey on security challenges for swarm robotics. In: 2009 Fifth International Conference on Autonomic and Autonomous Systems, pp. 307\u2013312. IEEE (2009). https:\/\/doi.org\/10.1109\/ICAS.2009.62","DOI":"10.1109\/ICAS.2009.62"},{"issue":"2","key":"4_CR20","doi-asserted-by":"publisher","first-page":"1150","DOI":"10.1109\/LRA.2021.3138156","volume":"7","author":"Y Huang","year":"2022","unstructured":"Huang, Y., Shan, T., Chen, F., Englot, B.: DiSCo-SLAM: distributed scan context-enabled multi-robot LiDAR SLAM with two-stage global-local graph optimization. IEEE Robot. Autom. Lett. 7(2), 1150\u20131157 (2022). https:\/\/doi.org\/10.1109\/LRA.2021.3138156","journal-title":"IEEE Robot. Autom. Lett."},{"key":"4_CR21","doi-asserted-by":"publisher","first-page":"420","DOI":"10.1038\/s42256-020-0213-2","volume":"2","author":"E Hunt","year":"2020","unstructured":"Hunt, E., Hauert, S.: A checklist for safe robot swarms. Nat. Mach. Intell. 2, 420\u2013422 (2020). https:\/\/doi.org\/10.1038\/s42256-020-0213-2","journal-title":"Nat. Mach. Intell."},{"key":"4_CR22","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1007\/978-3-030-25332-5_19","volume-title":"Towards Autonomous Robotic Systems","author":"M Kegeleirs","year":"2019","unstructured":"Kegeleirs, M., Garz\u00f3n Ramos, D., Birattari, M.: Random walk exploration for swarm mapping. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds.) TAROS 2019. LNCS (LNAI), vol. 11650, pp. 211\u2013222. Springer, Cham (2019). https:\/\/doi.org\/10.1007\/978-3-030-25332-5_19"},{"key":"4_CR23","doi-asserted-by":"publisher","unstructured":"Kegeleirs, M., Grisetti, G., Birattari, M.: Swarm SLAM: challenges and perspectives. Front. Robot. AI 8, 618268 (2021). https:\/\/doi.org\/10.3389\/frobt.2021.618268","DOI":"10.3389\/frobt.2021.618268"},{"key":"4_CR24","doi-asserted-by":"publisher","unstructured":"Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.\u00a03, pp. 2149\u20132154 (2004).https:\/\/doi.org\/10.1109\/IROS.2004.1389727","DOI":"10.1109\/IROS.2004.1389727"},{"issue":"1","key":"4_CR25","doi-asserted-by":"publisher","first-page":"475","DOI":"10.1109\/LRA.2023.3333742","volume":"9","author":"PY Lajoie","year":"2024","unstructured":"Lajoie, P.Y., Beltrame, G.: Swarm-slam: sparse decentralized collaborative simultaneous localization and mapping framework for multi-robot systems. IEEE Robot. Autom. Lett. 9(1), 475\u2013482 (2024). https:\/\/doi.org\/10.1109\/LRA.2023.3333742","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"4_CR26","doi-asserted-by":"publisher","first-page":"1232","DOI":"10.1109\/lra.2019.2894852","volume":"4","author":"PY Lajoie","year":"2019","unstructured":"Lajoie, P.Y., Hu, S., Beltrame, G., Carlone, L.: Modeling perceptual aliasing in SLAM via discrete\u2013continuous graphical models. IEEE Robot. Autom. Lett. 4(2), 1232\u20131239 (2019). https:\/\/doi.org\/10.1109\/lra.2019.2894852","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"4_CR27","doi-asserted-by":"publisher","first-page":"1656","DOI":"10.1109\/lra.2020.2967681","volume":"5","author":"PY Lajoie","year":"2020","unstructured":"Lajoie, P.Y., Ramtoula, B., Chang, Y., Carlone, L., Beltrame, G.: DOOR-SLAM: distributed, online, and outlier resilient SLAM for robotic teams. IEEE Robot. Autom. Lett. 5(2), 1656\u20131663 (2020). https:\/\/doi.org\/10.1109\/lra.2020.2967681","journal-title":"IEEE Robot. Autom. Lett."},{"key":"4_CR28","doi-asserted-by":"publisher","unstructured":"Lajoie, P.Y., Ramtoula, B., Wu, F., Beltrame, G.: Towards collaborative simultaneous localization and mapping: a survey of the current research landscape. Field Robot. 2(1), 971\u20131000 (2022). https:\/\/doi.org\/10.55417\/fr.2022032","DOI":"10.55417\/fr.2022032"},{"issue":"3","key":"4_CR29","doi-asserted-by":"publisher","first-page":"382","DOI":"10.1145\/357172.357176","volume":"4","author":"L Lamport","year":"1982","unstructured":"Lamport, L., Shostak, R., Pease, M.: The Byzantine Generals Problem. ACM Trans. Program. Lang. Syst. 4(3), 382\u2013401 (1982). https:\/\/doi.org\/10.1145\/357172.357176","journal-title":"ACM Trans. Program. Lang. Syst."},{"issue":"1","key":"4_CR30","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/1486525.1486527","volume":"36","author":"M Lourakis","year":"2009","unstructured":"Lourakis, M., Argyros, A.: SBA: a software package for generic sparse bundle adjustment. ACM Trans. Math. Softw. 36(1), 1\u201330 (2009). https:\/\/doi.org\/10.1145\/1486525.1486527","journal-title":"ACM Trans. Math. Softw."},{"key":"4_CR31","doi-asserted-by":"publisher","unstructured":"Macenski, S., Foote, T., Gerkey, B., Lalancette, C., Woodall, W.: Robot operating system 2: design, architecture, and uses in the wild. Sci. Robot. 7(66), eabm6074 (2022). https:\/\/doi.org\/10.1126\/scirobotics.abm6074","DOI":"10.1126\/scirobotics.abm6074"},{"key":"4_CR32","unstructured":"Moroncelli, A., Pacheco, A., Strobel, V., Lajoie, P.Y., Dorigo, M., Reina, A.: Supplementary material for the paper: byzantine fault detection in swarm-SLAM using blockchain and geometric constraints (2024). https:\/\/sites.google.com\/view\/bft-swarm-slam"},{"issue":"5","key":"4_CR33","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J., Tardos, J.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Rob. 31(5), 1147\u20131163 (2015). https:\/\/doi.org\/10.1109\/TRO.2015.2463671","journal-title":"IEEE Trans. Rob."},{"key":"4_CR34","unstructured":"Nakamoto, S.: Bitcoin: a peer-to-peer electronic cash system. electronic document. http:\/\/www.bitcoin.org (2008)"},{"key":"4_CR35","doi-asserted-by":"publisher","unstructured":"Nerurkar, E.D., Roumeliotis, S.I., Martinelli, A.: Distributed maximum a posteriori estimation for multi-robot cooperative localization. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 1402\u20131409. IEEE (2009). https:\/\/doi.org\/10.1109\/ROBOT.2009.5152398","DOI":"10.1109\/ROBOT.2009.5152398"},{"key":"4_CR36","doi-asserted-by":"publisher","unstructured":"Newcombe, R.A., Lovegrove, S.J., Davison, A.J.: DTAM: dense tracking and mapping in real-time. In: 2011 International Conference on Computer Vision, pp. 2320\u20132327 (2011). https:\/\/doi.org\/10.1109\/ICCV.2011.6126513","DOI":"10.1109\/ICCV.2011.6126513"},{"key":"4_CR37","doi-asserted-by":"publisher","unstructured":"Pacheco, A., Denis, U., Zakir, R., Strobel, V., Reina, A., Dorigo, M.: Toychain: a simple blockchain for research in swarm robotics (2024). https:\/\/doi.org\/10.48550\/arXiv.2407.06630, arXiv preprint:2407.06630 [cs.RO]","DOI":"10.48550\/arXiv.2407.06630"},{"key":"4_CR38","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-3-030-60376-2_1","volume-title":"Swarm Intelligence","author":"A Pacheco","year":"2020","unstructured":"Pacheco, A., Strobel, V., Dorigo, M.: A blockchain-controlled physical robot swarm communicating via an Ad-Hoc network. In: Dorigo, M., et al. (eds.) ANTS 2020. LNCS, vol. 12421, pp. 3\u201315. Springer, Cham (2020). https:\/\/doi.org\/10.1007\/978-3-030-60376-2_1"},{"key":"4_CR39","doi-asserted-by":"publisher","unstructured":"Pacheco, A., Strobel, V., Reina, A., Dorigo, M.: Real-time coordination of a foraging robot swarm using blockchain smart contracts. In: Dorigo, M., et al. Swarm Intelligence, ANTS 2022, LNCS, vol. 13491, pp. 196\u2013208. Springer, Cham (2022). https:\/\/doi.org\/10.1007\/978-3-031-20176-9_16","DOI":"10.1007\/978-3-031-20176-9_16"},{"key":"4_CR40","doi-asserted-by":"publisher","unstructured":"Placed, J.A., et al.: A survey on active simultaneous localization and mapping: state of the art and new frontiers. IEEE Trans. Robot. 39(3), 1686\u20131705 (2022). https:\/\/doi.org\/10.1109\/TRO.2023.3248510","DOI":"10.1109\/TRO.2023.3248510"},{"key":"4_CR41","doi-asserted-by":"publisher","unstructured":"Prorok, A., Malencia, M., Carlone, L., Sukhatme, G.S., Sadler, B.M., Kumar, V.: Beyond robustness: A taxonomy of approaches towards resilient multi-robot systems (2021). https:\/\/doi.org\/10.48550\/arXiv.2109.12343, arXiv preprint:2109.12343 [cs.RO]","DOI":"10.48550\/arXiv.2109.12343"},{"key":"4_CR42","doi-asserted-by":"publisher","unstructured":"Queralta\u00a0Pe\u00f1a, J., Qingqing, L., Zou, Z., Westerlund, T.: Enhancing autonomy with blockchain and multi-access edge computing in distributed robotic systems. In: 2020 Fifth International Conference on Fog and Mobile Edge Computing (FMEC), pp. 180\u2013187. IEEE (2020). https:\/\/doi.org\/10.1109\/FMEC49853.2020.9144809","DOI":"10.1109\/FMEC49853.2020.9144809"},{"key":"4_CR43","doi-asserted-by":"publisher","unstructured":"Reina, A.: Robot teams stay safe with blockchains. Nat. Mach. Intell. 2, 240\u2013241 (2020). https:\/\/doi.org\/10.1038\/s42256-020-0178-1","DOI":"10.1038\/s42256-020-0178-1"},{"key":"4_CR44","doi-asserted-by":"publisher","unstructured":"Rodriguez-Losada, D., Matia, F., Jimenez, A.: Local maps fusion for real time multirobot indoor simultaneous localization and mapping. In: Proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA), vol.\u00a02, pp. 1308\u20131313. IEEE (2004). https:\/\/doi.org\/10.1109\/ROBOT.2004.1308005","DOI":"10.1109\/ROBOT.2004.1308005"},{"issue":"1","key":"4_CR45","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1002\/rob.21620","volume":"33","author":"S Saeedi","year":"2016","unstructured":"Saeedi, S., Trentini, M., Seto, M., Li, H.: Multiple-robot simultaneous localization and mapping: a review. J. Field Robot. 33(1), 3\u201346 (2016). https:\/\/doi.org\/10.1002\/rob.21620","journal-title":"J. Field Robot."},{"key":"4_CR46","doi-asserted-by":"publisher","unstructured":"Schmuck, P., Ziegler, T., Karrer, M., Perraudin, J., Chli, M.: COVINS: visual-inertial SLAM for centralized collaboration. In: 2021 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct), pp. 171\u2013176. IEEE Computer Society, Los Alamitos, CA, USA (2021). https:\/\/doi.org\/10.1109\/ISMAR-Adjunct54149.2021.00043","DOI":"10.1109\/ISMAR-Adjunct54149.2021.00043"},{"issue":"4","key":"4_CR47","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1177\/027836498600500404","volume":"5","author":"RC Smith","year":"1986","unstructured":"Smith, R.C., Cheeseman, P.: On the representation and estimation of spatial uncertainty. The Int. J. Robot. Res. 5(4), 56\u201368 (1986). https:\/\/doi.org\/10.1177\/027836498600500404","journal-title":"The Int. J. Robot. Res."},{"key":"4_CR48","unstructured":"Strobel, V., Castell\u00f3\u00a0Ferrer, E., Dorigo, M.: Managing byzantine robots via blockchain technology in a swarm robotics collective decision making scenario. In: Proceedings of 17th International Conference on Autonomous Agents and MultiAgent Systems, AAMAS 2018, pp. 541\u2013549. IFAAMAS, Richland, SC (2018)"},{"key":"4_CR49","doi-asserted-by":"publisher","first-page":"54","DOI":"10.3389\/frobt.2020.00054","volume":"7","author":"V Strobel","year":"2020","unstructured":"Strobel, V., Castell\u00f3 Ferrer, E., Dorigo, M.: Blockchain technology secures robot swarms: a comparison of consensus protocols and their resilience to byzantine robots. Front. Robot. AI 7, 54 (2020). https:\/\/doi.org\/10.3389\/frobt.2020.00054","journal-title":"Front. Robot. AI"},{"key":"4_CR50","doi-asserted-by":"publisher","unstructured":"Strobel, V., Pacheco, A., Dorigo, M.: Robot swarms neutralize harmful Byzantine robots using a blockchain-based token economy. Sci. Robot. 8(79), eabm4636 (2023). https:\/\/doi.org\/10.1126\/scirobotics.abm4636","DOI":"10.1126\/scirobotics.abm4636"},{"issue":"4","key":"4_CR51","doi-asserted-by":"publisher","first-page":"2022","DOI":"10.1109\/TRO.2021.3137751","volume":"38","author":"Y Tian","year":"2022","unstructured":"Tian, Y., Chang, Y., Herrera Arias, F., Nieto-Granda, C., How, J.P., Carlone, L.: Kimera-multi: robust, distributed, dense metric-semantic SLAM for multi-robot systems. IEEE Trans. Rob. 38(4), 2022\u20132038 (2022). https:\/\/doi.org\/10.1109\/TRO.2021.3137751","journal-title":"IEEE Trans. Rob."},{"key":"4_CR52","doi-asserted-by":"publisher","first-page":"20417","DOI":"10.1038\/s41598-023-46238-1","volume":"13","author":"L Van Calck","year":"2023","unstructured":"Van Calck, L., Pacheco, A., Strobel, V., Dorigo, M., Reina, A.: A blockchain-based information market to incentivise cooperation in swarms of self-interested robots. Sci. Rep. 13, 20417 (2023). https:\/\/doi.org\/10.1038\/s41598-023-46238-1","journal-title":"Sci. Rep."},{"key":"4_CR53","unstructured":"Wood, G.: Ethereum: a secure decentralized generalised transaction ledger. Ethereum Found. 151, 1\u201341 (2014). https:\/\/ethereum.github.io\/yellowpaper\/paper.pdf"},{"issue":"11","key":"4_CR54","doi-asserted-by":"publisher","first-page":"2740","DOI":"10.3390\/rs15112740","volume":"15","author":"Y Zhang","year":"2023","unstructured":"Zhang, Y., Wu, Y., Tong, K., Chen, H., Yuan, Y.: Review of visual simultaneous localization and mapping based on deep learning. Remote Sens. 15(11), 2740 (2023). https:\/\/doi.org\/10.3390\/rs15112740","journal-title":"Remote Sens."},{"key":"4_CR55","doi-asserted-by":"publisher","unstructured":"Zhao, H., et al.: A generic framework for byzantine-tolerant consensus achievement in robot swarms. In: Proceedings of the 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8839\u20138846. IEEE (2023). https:\/\/doi.org\/10.1109\/IROS55552.2023.10341423","DOI":"10.1109\/IROS55552.2023.10341423"},{"issue":"4","key":"4_CR56","doi-asserted-by":"publisher","first-page":"4786","DOI":"10.1109\/JSEN.2023.3345541","volume":"24","author":"S Zhong","year":"2024","unstructured":"Zhong, S., Qi, Y., Chen, Z., Wu, J., Chen, H., Liu, M.: DCL-SLAM: a distributed collaborative LiDAR SLAM framework for a robotic swarm. IEEE Sens. J. 24(4), 4786\u20134797 (2024). https:\/\/doi.org\/10.1109\/JSEN.2023.3345541","journal-title":"IEEE Sens. J."}],"container-title":["Lecture Notes in Computer Science","Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-70932-6_4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,14]],"date-time":"2024-09-14T08:03:28Z","timestamp":1726301008000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-70932-6_4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"ISBN":["9783031709319","9783031709326"],"references-count":56,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-70932-6_4","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2024]]},"assertion":[{"value":"15 September 2024","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ANTS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Swarm Intelligence","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Konstanz","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Germany","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2024","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"9 October 2024","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"11 October 2024","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"14","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"antsw2024","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.uni-konstanz.de\/ants-2024\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}