Abstract
Problem statement: Currently, to create robot motion control systems based on modules of smart electromechanical systems SEMS, it is important to develop methods and algorithms that contribute to endowing robots with abilities independently, without human intervention, to formulate safe control problems and successfully solve them in conditions of incomplete certainty. Purpose of research: Analysis of the ways of development of methods for safe movement control of a group of robots and determination of the principles for making optimal decisions taking into account the elimination or minimization of. Results: Analyzed the decision-making steps for the sound management based on logical-mathematical processing of sensory information and solving optimization problems with constraints multistep methods generalized mathematical programming. When solving such problems, it is proposed to describe uncertainties by systems of equations in algebra modulo two. Attributes of logical variables reduced to intervals. Decisions about optimality are made based on the concept of sequential preference of one of the compared options to the other. Practical significance: The proposed principles and methods of decision-making can be effectively applied in the formation of algorithms for safe motion control of a group of intelligent robots under conditions of incomplete certainty.
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Acknowledgements
The present work was supported by the Ministry of Science and Higher Education within the framework of the Russian State Assignment under contract No. AAA-A19-119120290136-9 and is supported by grants RFBR No. 18-01-00076 and No. 19-08-00079.
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Gorodetskiy, A.E., Tarasova, I.L., Kuchmin, A.Y. (2021). Problems with Secure Control of SEMS Group. In: Gorodetskiy, A.E., Tarasova, I.L. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 352. Springer, Cham. https://doi.org/10.1007/978-3-030-68172-2_6
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DOI: https://doi.org/10.1007/978-3-030-68172-2_6
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