Abstract
Problem statement: robots and robotic systems based on SEMS are a kind of cyberphysical systems, a distinctive feature of which is parallelism in obtaining and processing information, in calculation and formation of control actions and in performance of various movements on commands from system of automatic control, which is built by analogy with the human Central Nervous System. Since each robot based on the SEMS has the appropriate behavior, group control of such robots becomes not effective centralized control and require a more flexible decentralized strategies. However, the task of implementing control in teams of such intelligent devices is not sufficiently investigated. In particular, the need to select the best scenarios for the development of situations in conditions of incomplete certainty, as well as limitations on the practical feasibility of algorithms for processing data on objects lead to the fact that the scope of state characterization in one way or another requires discretization and fuzzification of data based on linear, nonlinear, or ordinal scales and the transition to a situation of group control on the basis of time slices of trajectories of change of characteristics of control objects in the environment of choice, described as a multi-dimensional space called the configuration space of the robots. Purpose of research: development of algorithms for constructing the current dynamic model of the environment and the team of robots, as well as a dynamic space of configurations of the robots for providing the best trajectories for robots (scenarios) in terms of not a complete certainty. Results: a review of methods of intellectualization of robots like SEMS. Methods of construction of time slices of trajectories of change of characteristics of control objects in the environment of choice are analyzed. The algorithms for constructing the current dynamic model of the environment and a team of robots on the basis of an algebraic approach to logical and logical-probabilistic data analysis. The algorithm of construction of dynamic space of configurations of robots on a concrete example of extraction from a room of various subjects by collective of robots is resulted. Practical significance: the proposed algorithms for constructing the current dynamic model of the environment and the team of robots, as well as the dynamic space of robot configurations can be used in the planning control systems of a team of robots, providing the choice of the best scenarios of movements in the situational control of a group of robots.
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This work was financially supported by Russian Foundation for Basic Research, Grant 16-29-04424 and Grant 18-01-00076.
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Gorodetskiy, A.E., Tarasova, I.L. (2019). Situational Control a Group of Robots Based on SEMS. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 174. Springer, Cham. https://doi.org/10.1007/978-3-319-99759-9_2
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