Consensus achievement method for a robotic swarm about the most frequently feature of an environment based on blockchain technology

The technological development and popularity of swarm robotics actualizes the issues of increasing the efficiency and safety of consensus achievement between the swarm elements. Currently, most studies have little or no regard for information security issues when consensus achievement among swarm elements in the presence of robots with arbitrarily malfunctioning or malicious behavior. However, in many practical applications, when exploring the external environment, a swarm of one or more malicious robots may be sufficient to allow the current consensus mechanisms to fail. One of the promising ways to ensure information security in collective decision-making is the use of blockchain technology as a distributed system designed to work in conditions of lack of trust between the parties. The use of distributed ledger technologies, due to their complexity, leads to reducing efficiency in consensus achievement. The aim of the work is to improve the safety of the process of consensus achievement in swarms of robots through the use of blockchain technology in collective design making while maintaining the effectiveness of consensus achievement between robots. Increasing the safety of decision-making by a swarm will increase the stability and the possibilities of practical application of swarm robotic systems for solving problems in aggressive environments.