Mitigating Latency and Partitioning Through Size Regulation in Blockchain-Enabled Robot Swarms
摘要
Blockchain technology has recently been integrated into robot swarms, providing the benefits of secure decentralized coordination and increased resilience against malicious agents. The security of blockchain technology relies on the consensus protocol, which ensures data consistency across the network. In robot swarms, however, changing network topologies and communication constraints can cause severe network partitioning. When such partitions occur, block production may be delayed or even halted, hindering the dissemination of information required for time-sensitive applications. In this work, we address the issue of delayed block production through adaptive swarm size control. We provide the first proof of concept for open swarms that self-regulate their swarm size during operation, based on acceptable block production delays. Our simulation results demonstrate that adaptive swarm size regulation effectively reduces latency, enabling the swarm to adapt its block production rate to acceptable task execution delays.