SwarmDAG: A Partition Tolerant Distributed Ledger Protocol for Swarm Robotics

Jason A Tran, Gowri Sankar Ramachandran, Palash M Shah, Claudiu B. Danilov, Rodolfo A. Santiago, Bhaskar Krishnamachari

Abstract


Blockchain technology has the potential to disrupt applications beyond cryptocurrencies. This work applies the concepts of blockchain technology to swarm robotics applications. Swarm robots typically operate in a distributed fashion, wherein the collaboration and coordination between the robots are essential to accomplishing the application goals. However, robot swarms may experience network partitions either due to navigational and communication challenges or in order to perform certain tasks efficiently. We propose a novel protocol, SwarmDAG, that enables the maintenance of a distributed ledger based on the concept of extended virtual synchrony while managing and tolerating network partitions.


Keywords


swarmdag; distributed ledger; partition tolerant; directed acyclic graph; swarm robotics; extended virtual synchrony

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References


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DOI: https://doi.org/10.5195/ledger.2019.174

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Copyright (c) 2019 Jason Anh Khoa Tran, Gowri Sankar Ramachandran, Palash M Shah, Claudiu B. Danilov, Rodolfo A. Santiago, Bhaskar Krishnamachari

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