Usage of Smart Contracts with FCG for Dynamic Robot Coalition Formation in Precision Farming

Abstract

In solving the problems of precision farming, an important place has the organization of joint work of robots for processing the field. The paper presents an approach to the dynamic formation of a coalition for solving the problem of precision farming, based on the use of fuzzy cooperative games in determining the structure of the coalition. To collect the initial data and save the result of the calculation of the game, a cyberphysical space is used, built based on the “blackboard” and blockchain technologies. Their use allows to combine the advantages of the concept of the Internet of Things for collecting information from sensors of agricultural robots and the immutability of data blocks to save the results of the calculation of the game in a competitive environment. To ensure the dynamic change of the coalition, smart contracts are used over the blockchain technology. Contracts contain the rules for calculating a fuzzy cooperative game and the rules for changing the composition of the coalition. As a result, the proposed approach provides the dynamic formation of a coalition with the trust of all participants and the ability to collect and disseminate information from robot sensors in a common trusted information space. To implement the blockchain and smart contract, the approach proposes to use the Hyperledger Fabric platform.