Comparison of Task Distribution Methods for Blockchain-Powered Multi Robot Systems

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dc.contributor.authorŞen, Mehmed Oǧuz
dc.contributor.authorOkumuş, Fatih
dc.contributor.authorKocamaz, Adnan Fatih
dc.date.accessioned2026-04-04T13:19:00Z
dc.date.available2026-04-04T13:19:00Z
dc.date.issued2025
dc.departmentİnönü Üniversitesi
dc.description9th International Artificial Intelligence and Data Processing Symposium, IDAP 2025 -- 6 September 2025 through 7 September 2025 -- Malatya -- 215321
dc.description.abstractDecentralized 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.
dc.identifier.doi10.1109/IDAP68205.2025.11222362
dc.identifier.isbn979-833158990-5
dc.identifier.scopus2-s2.0-105025017973
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/IDAP68205.2025.11222362
dc.identifier.urihttps://hdl.handle.net/11616/108074
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof9th International Artificial Intelligence and Data Processing Symposium, IDAP 2025
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_Scopus_20250329
dc.subjectblockchain
dc.subjectdecentralized task management
dc.subjectmobile robots
dc.subjectRobot Operating System
dc.subjecttask allocation
dc.subjecttask distribution
dc.titleComparison of Task Distribution Methods for Blockchain-Powered Multi Robot Systems
dc.typeConference Object

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