Empirical assessment of RLR with DeTAV as a context-aware blockchain consensus for smarter swarm networks

Swarm robotics is an emerging field capable of accomplishing complex tasks through collective behaviour. However, it continues to face persistent challenges in secure communication, decentralized decision-making, and scalability. To operate effectively in resource-constrained environments, swarm networks require a decentralized mechanism that is secure, fast, and efficient. Although many studies have explored the use of blockchain technology for swarm robotics, existing blockchain consensus algorithms such as Proof of Work (PoW), Proof of Stake (PoS), and their variants remain unsuitable due to high computational complexity and risk of stake centralization. To address these challenges, we introduce the blockchain-based Rotational Leadership Role (RLR) consensus algorithm, a voting-based consensus re-engineered from the Raft approach, together with Decentralized Task Authorization and Validation (DeTAV), a token-based mechanism for context-aware task validation. This design ensures efficiency, security, and scalability in swarm robotics and drone systems. RLR is lightweight and well suited to operate within the limited computing resources of small robots or aerial drones. To validate its performance, a custom-built robotic simulator was developed as part of this research. Experiments conducted with up to 70 concurrent robots demonstrated that RLR consumed under 90 MB Random Access Memory (RAM) and 12% Central Processing Unit (CPU), whereas PoW required 460 MB RAM and 27% CPU with a minimum difficulty level of 21, reflecting an 80% reduction in memory usage and a 55% reduction in CPU consumption. Scalability tests with 4 to 70 robots further revealed RLR’s scalability with an average of 78% higher throughput, 47% lower election latency, and 34% lower consensus latency. Additionally, under the simulated attack scenarios and assuming uncompromised cryptographic keys, DeTAV’s context-based validation consistently achieved 100% success in detecting and isolating Byzantine nodes, while reducing Quality of Detection (QoD) time by 67%. Collectively, these results confirm that RLR with DeTAV effectively meets the efficiency, security, and scalability requirements of swarm robotic and drone networks.