  In recent years, multi-robot systems have received increasing attention from
both industry and academia. Besides the need of accurate and robust estimation
of relative localization, security and trust in the system are essential to
enable wider adoption. In this paper, we propose a framework using Hyperledger
Fabric for multi-robot collaboration in industrial applications. We rely on
blockchain identities for the interaction of ground and aerial robots, and use
smart contracts for collaborative decision making. The use of ultra-wideband
(UWB) localization for both autonomous navigation and robot collaboration
extends our previous work in Fabric-based fleet management. We focus on an
inventory management application which uses a ground robot and an aerial robot
to inspect a warehouse-like environment and store information about the found
objects in the blockchain. We measure the impact of adding the blockchain
layer, analyze the transaction commit latency and compare the resource
utilization of blockchain-related processes to the already running data
processing modules.
