authentication. In blockchain-based swarm robot system, there is usually no fixed
communication hub. A direct communication link is established between nodes, and
each node has routing function. The robots are not always close enough to communicate with each other.
Consensus layer. This layer is mainly used to maintain node data consistency, have
the function of node voting, data consensus, data synchronism. So far, the main
consensus mechanism includes POW, POS, DPOS, PBFT, BFT. The consensus
mechanism should be modular in design and adopt different consensus algorithms
based on different application scenarios. The consensus mechanism will also affect
the logical network topology presented at the network layer. In the application
scenarios of robots swarm system, limited by communication environment, it is
Consensus algorithm
Encrypon
Data structure
P2P Network
Smart contact
virtual machine
Dapp
Network Layer
Contract Layer
Consensus Layer
Apllicaon Layer
Data Layer
hash
Incenve Layer
Dapp
Dapp
programming language
Block storage
identy
PoW
PoS
DPoS
PBFT
Distribuon Mechanism
Issue Mechanism
Broadcast Mechanism
Validate Mechanism
UUV
UTV
UAV
Dapp
Physical Layer
Fig. 2. The basic model of swarm robotics-oriented blockchain
An Overview of Blockchain-Based Swarm Robotics System
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