동적 리더 선택을 고려한 블록체인 기반 멀티 리더 로봇 협업 모델

초록

Robot collaboration models using blockchain technology have recently gained attention across various fields. Blockchain enables secure and decentralized data sharing without a central server, ensuring integrity and transparency. Existing blockchain-based multi-robot systems adopt leader-based decision-making but rely on fixed leader groups, limiting adaptability to task or environmental changes. This paper proposes a blockchain-based multi-leader robot collaboration model that dynamically reconfigures the leader group according to task transitions and robot conditions. The model evaluates each robot’s task suitability, selects leaders through weighted scoring, and periodically detects Byzantine robots to prevent unreliable participation. By transparently recording leader selection and decision-making on the blockchain, the proposed model achieves efficient and reliable robot collaboration in dynamic environments.

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