Journal of Bionic Engineering (2021) 18:1317–1330 https://doi.org/10.1007/s42235-021-00073-0

Study on Decentralization of Spherical Amphibious Multi-robot Control System Based on Smart Contract and Blockchain 

Shuxiang Guo1,2 · Sheng Cao2  · Jian Guo1 

1 Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory, Tianjin University of Technology, Binshui Xidao Extension 391, Tianjin 300384, China
2 Intelligent Mechanical Systems Engineering Department Faculty of Engineering, Kagawa University, Takamatsu, Kagawa, Japan

Abstract  With the development of intelligent bionic robots and the improvement of military application, a single robot cannot meet the requirements of the tasks of the current era. The more complex tasks require not only that the robot be able to pass through the feld barriers and the amphibious environment, but also that the robot be able to collaborate in a multi-robot system. Consequently, research on the multi-robot control system of spherical amphibious robots is very important. Presently, the main research on amphibious robots is to improve the functions of a single robot, in the absence of the study of the multi-robot control system. Existing systems primarily use a centralized control methodology. Although the transfer of central node can be achieved, there is still a problem of Byzantine fault tolerance in military applications, that is, when the amphibious multi-robot system is invaded by the enemy. The central node may not only fail to accomplish the task, but also lose control of other robots, with severe consequences. To solve the above problems, this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain technology. First, the point-to-point information network based on long range radio technology of low power wide area network was set up, we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control system. On this basis, the consensus plugin, smart contract and decentralized multi-robot control algorithm were designed to achieve decentralization. The experimental results of consensus of spherical amphibious multi-robot showed the efectiveness of the decentralization. 

Keywords Amphibious robot · Blockchain · Smart contract · Control system · Decentralization

The mechanical structure and hardware components of spherical multi-robot system