A Blockchain Framework for Equitable and Secure Task Allocation in Robot Swarms

Recent studies demonstrate the potential of blockchain to enable robots in a swarm to achieve secure consensus about the environment, particularly when robots are homogeneous and perform identical tasks. Typically, robots receive rewards for their contributions to consensus achievement, but no studies have yet targeted heterogeneous swarms, in which the robots have distinct physical capabilities suited to different tasks. We present a novel framework that leverages domain knowledge to decompose the swarm mission into a hierarchy of tasks within smart contracts. This allows the robots to reach a consensus about both the environment and the action plan, allocating tasks among robots with diverse capabilities to improve their performance while maintaining security against faults and malicious behaviors. We refer to this concept as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">equitable and secure</i> task allocation. Validated in Simultaneous Localization and Mapping missions, our approach not only achieves equitable task allocation among robots with varying capabilities, improving mapping accuracy and efficiency, but also shows resilience against malicious attacks.