Abstract
One of the challenges in developing multi-robot systems is the design of appropriate coordination strategies in such a way that robots perform their operations efficiently. In particular, efficient coordination requires judicious task allocation. Without appropriate task allocation, the use of multi-robot systems in complex scenarios becomes limited or even unfeasible. Real-world scenarios usually require the use of heterogeneous robots and task fulfillment with different structures, constraints, and degrees of complexity. In such scenarios, decentralised solutions seem to be appropriate for task allocation, since centralised solutions represent a single point of failure for the system. During the allocation process, in decentralised approaches, there are often communication requirements, as participants need to share information. Maintaining data integrity, resilience, and security in data access are some of the important features for this type of solution. In that direction, we propose an architecture for dynamic and decentralised allocation of tasks built on the idea of having communication and coordination in a multi-agent system through a private blockchain.
T. L. Basegio—Partly supported by Federal Institute of Rio Grande do Sul (IFRS) – Campus Feliz.
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Basegio, T.L., Michelin, R.A., Zorzo, A.F., Bordini, R.H. (2018). A Decentralised Approach to Task Allocation Using Blockchain. In: El Fallah-Seghrouchni, A., Ricci, A., Son, T. (eds) Engineering Multi-Agent Systems. EMAS 2017. Lecture Notes in Computer Science(), vol 10738. Springer, Cham. https://doi.org/10.1007/978-3-319-91899-0_5
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