Decentralized action planning in robot coalition using smart contracts.

Abstract

During a common goal achieving, a coalition of autonomous robots may face a situation that requires prompt decision-making in order to maintain an initially agreed action plan. In this case, it is proposed to use adaptive decentralized planning mechanisms based on the model of socio-inspired self-organization and implemented using the original protocol ofnegotiations between robots. Negotiations are carried out through the execution of smart contracts that process robots' proposalsюThe contracts are storing and distributing in a distributed ledger implemented with the HyperLedger Fabric platform.