Witness Byzantine Fault Tolerance with Signature Tree and Proof-of-Navigation for Wide Area Visual Navigation

Nasim Paykari, Taylor Clark, Ademi Zain, Damian Lyons, Mohamed Rahouti

2025

Abstract

This paper presentsWitness Byzantine Fault Tolerance (WBFT), a novel consensus protocol designed forWide Area Visual Navigation (WAVN) systems, where cooperative robots share visual imagery in GPS-denied environments and reach agreement on navigation data via blockchain. WBFT addresses the limitations of traditional Byzantine Fault Tolerance (BFT) methods, particularly the high communication overhead of protocols like PBFT, by introducing a lightweight, secure, and signature-based consensus mechanism optimized for resource-constrained robotic networks. The protocol integrates a Proof-of-Stake-based leader election system, named Proof-of-Navigation (PoN), with a signature aggregation approach using Ed25519 cryptography and a Merkle tree structure, reducing verification complexity to O(logt) and achieving consensus with only O(n) message complexity. WBFT tolerates up to f ≤ ⌊(n−1)/3⌋ Byzantine faults and demonstrates superior resilience, scalability, and communication efficiency compared to existing BFT variants. Experimental results validate WBFT’s performance across multiple metrics and network sizes, confirming its suitability for highfrequency, decentralized robotic coordination.

Paper Citation

in Harvard Style

Paykari N., Clark T., Zain A., Lyons D. and Rahouti M. (2025). Witness Byzantine Fault Tolerance with Signature Tree and Proof-of-Navigation for Wide Area Visual Navigation. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: TISAS; ISBN 978-989-758-770-2, SciTePress, pages 633-644. DOI: 10.5220/0013961300003982

in Bibtex Style

@conference{tisas25,
author={Nasim Paykari and Taylor Clark and Ademi Zain and Damian Lyons and Mohamed Rahouti},
title={Witness Byzantine Fault Tolerance with Signature Tree and Proof-of-Navigation for Wide Area Visual Navigation},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: TISAS},
year={2025},
pages={633-644},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013961300003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: TISAS
TI - Witness Byzantine Fault Tolerance with Signature Tree and Proof-of-Navigation for Wide Area Visual Navigation
SN - 978-989-758-770-2
AU - Paykari N.
AU - Clark T.
AU - Zain A.
AU - Lyons D.
AU - Rahouti M.
PY - 2025
SP - 633
EP - 644
DO - 10.5220/0013961300003982
PB - SciTePress