Comparison of Task Distribution Methods for Blockchain-Powered Multi Robot Systems
Küçük Resim Yok
Tarih
2025
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Decentralized task allocation is a critical challenge in multi-robot systems, particularly in scenarios where autonomy, scalability, and robustness are essential. While centralized approaches simplify coordination, they suffer from limitations such as single points of failure and poor scalability in dynamic environments. This paper presents a comparative evaluation of three decentralized and distributed task allocation algorithms integrated into a blockchain-powered multi-robot system where Hyperledger Fabric is used as blockchain platform. Each algorithm employs a cost-based selection mechanism to assign tasks autonomously while leveraging a distributed ledger for data consistency and conflict resolution. The algorithms -Euclidean distance, TEB motion planner and every robot computing all robots' costs- are evaluated for a system of three TIAGo++ robots in two different simulation environments. Performance metrics include computational overhead and task request conflict rates. Results show that while Euclidean distance offers the lowest overhead, it suffers from high conflict rates; TEB motion planner improves fairness with moderate overhead; and every robot computing all robots' costs ensures the highest consistency at the cost of increased computation. The findings highlight key trade-offs in decentralized coordination and offer guidance for designing scalable and reliable blockchain-powered multi robot systems. © 2025 IEEE.
Açıklama
9th International Artificial Intelligence and Data Processing Symposium, IDAP 2025 -- 6 September 2025 through 7 September 2025 -- Malatya -- 215321
Anahtar Kelimeler
blockchain, decentralized task management, mobile robots, Robot Operating System, task allocation, task distribution
Kaynak
9th International Artificial Intelligence and Data Processing Symposium, IDAP 2025
WoS Q Değeri
Scopus Q Değeri
N/A
