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In recent years, multi-robot systems have received increasing attention fromboth industry and academia. Besides the need of accurate and robust estimationof relative localization, security and trust in the system are essential toenable wider adoption. In this paper, we propose a framework using HyperledgerFabric for multi-robot collaboration in industrial applications. We rely onblockchain identities for the interaction of ground and aerial robots, and usesmart contracts for collaborative decision making. The use of ultra-wideband(UWB) localization for both autonomous navigation and robot collaborationextends our previous work in Fabric-based fleet management. We focus on aninventory management application which uses a ground robot and an aerial robotto inspect a warehouse-like environment and store information about the foundobjects in the blockchain. We measure the impact of adding the blockchainlayer, analyze the transaction commit latency and compare the resourceutilization of blockchain-related processes to the already running dataprocessing modules.

Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain