| dc.description.abstract | Collaborative exploration of unknown areas by multiple robots is a critical application of multi-robot systems. However, issues such as communication bandwidth consumption, data security, data consistency, decision-making consensus, and robot heterogeneity restrict the efficiency and completeness of multi-robot collaborative exploration. To address these issues, this paper proposes a blockchain-based approach for multi-robot collaborative map exploration and develops a multi-robot collaborative exploration system based on this approach. The system utilizes blockchain technology to enable communication and data sharing among robots. Additionally, it establishes a trust bridge among robots through an identity authentication mechanism and provides a fair decentralized decision-making platform. We employ a topological map as a shared map among robots to reduce the consumption of communication bandwidth caused by extensive interactions. Based on the topological map, we propose a lightweight task allocation algorithm called Tiny-MinPos. This algorithm extends the framework of the previous research achievement, MinPos, from its original applicability to occupancy grid maps to include topological maps. Finally, we conducted experiments in the Gazebo simulator. Compared to a single-robot system, our system achieved a 56% improvement in area exploration efficiency and an average of 32% increase in map coverage within the same timeframe. Furthermore, Tiny-MinPos demonstrated a 15% improvement in exploration efficiency compared to the Greedy algorithm. The experimental results highlight the advantages of our approach in enhancing exploration efficiency, improving system reliability, and achieving fairness in task allocation. | en_US |