Execution plan control in dynamic coalition of robots with smart contracts and blockchain

Abstract

The paper presents an approach of the blockchain and smart contracts utilization for dynamic robot coalition creation. The coalition is forming for solving complex tasks in industry applications that requires sequential united actions from the several robots. The main idea is that the process is split into two stages: scheduling and dynamic execution. On the scheduling stage, the coalition is defined based on the correlation of existing tasks and robot equipment, and the execution plan is formed and stored in smart contracts. The second stage is the plan execution. During this stage, smart contract controls how each robot solves its sub-task and whether it solves the sub-task due to the planned moment of time. In case of any deviation from the plan, smart contacts will provide a solution for returning to the plan or for changing the coalition composition with new robots and an execution plan. The prototype for execution control system has been developed based on the Hyperledger Fabric platform.