Abstract
This study describes a blockchain-based multi-unmanned aerial vehicle (multi-UAV) surveillance framework that enables UAV coordination and financial exchange between system users. The objective of the system is to allow a set of Points-Of-Interest (POI) to be surveyed by a set of autonomous UAVs that cooperate to minimize the time between successive visits while exhibiting unpredictable behavior to prevent external agents from learning their movements. The system can be seen as a marketplace where the UAVs are the service providers and the POIs are the service seekers. This concept is based on a blockchain embedded on the UAVs and on some nodes on the ground, which has two main functionalities. The first one is to plan the route of each UAV through an efficient and computationally cheap game-theoretic decision algorithm implemented into a smart contract. The second one is to allow financial transactions between the system and its users, where the POIs subscribe to surveillance services by buying tokens. Conversely, the system pays the UAVs in tokens for the provided services. The first benchmarking experiments show that the IOTA blockchain is a potential blockchain candidate to be integrated in the UAV embedded system and that the chosen decentralized decision-making coordination strategy is efficient enough to fill the mission requirements while being computationally light.