Mohammad Fathian - Department of Industrial Engineering, Professor (Full),Iran University of Science and Technology, Tehran, Iran
Farhad Yousefi - Department of Mechatronics Engineering, Faculty of New Sciences and Technologies,University of Tehran, Tehran, Iran
Hossein Jangravi - Department of Progress Engineering,Iran University of Science & Technology (IUST), Tehran, Iran
Mojtaba Rahmanzadeh - Department of Electrical Engineering, Faculty of Electrical and computer Engineering,K. N. Toosi University of Technology, Tehran, Iran
MohammadHasan Aghanoori - Department of Mechatronics Engineering, Faculty of Electrical and computer Engineering, K. N. Toosi University of Technology, Tehran, Iran

Multi-robot systems are important in advanced robotics research. These kinds of systems are useful for doing things that are inherently complicated such as search and rescue operations, reconnaissance missions and so on. Applying multi-robot systems to real-world scenarios requires considering several challenges which increase the complexity of the implementation. This article describes an approach of communicating the Unmanned Aerial Vehicles (UAVs) using Blockchain technology which including Ethereum smart contract in their actions. Complex hash algorithms and cryptographies assure the Blockchain -base communication security. Besides, distributed databases (ledgers) preventing data lost in condition of dangers of bad weather conditions or the attack by any of the adversarial robots or human, help UAVs to communicate in safer and more reliable in their jobs. This article shows how to have a more reliable UAV communication by means of Blockchain technology. The architecture of UAV communication scheme based on Blochchain Ethereum smart contract method is presented. As a result, the article shows how to organize a communication system among agents in a peer-to-peer networks using the Blockchain technology.

Multi UAV; Blockchain; Smart Contract; Security; Ethereum