Abstract
Problem statement: To coordinate interactions in groups of robots that jointly perform a task, it is necessary to correctly distribute subtasks for each robot. In general, robots in a group can have equal ranks or be divided into subgroups, each of which contains one leader (coordinator) responsible for the distribution of tasks and coordination of interactions within the subgroup. To solve this problem, it is necessary to correctly manage such teams. Purpose of research: It is required to develop a method for flexible distribution and redistribution of tasks in teams of robots with an arbitrary group structure, taking into account changes in the current situation. Results: It is proposed to solve the described problem on the basis of the previously proposed by the authors quantitative assessments of situation awareness and its three main aspects (steps), namely perception of the essential elements of the environment, comprehending (estimation of their importance) and forecasting of possible future states. It is assumed that the work is carried out in the absence of a conscious (targeted) counteraction of the environment, that is, the task has a commercial (civilian) character. The presented approach differs by: considering both normal and emergency operation of the team under study; operative formation of areas of responsibility for each decision-making robot. Practical significance: Development allows to objectify decision-making support in teams of robots with an arbitrary organizational structure of subgroups.
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Acknowledgements
The authors would like to thank the Russian Foundation for Basic Researches (grants 18-29-03022, 18-07-00132, 18-01-00076, and 19-08-0079) for partial funding of this research.
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Fridman, A., Kulik, B.A. (2021). Task Scheduling Within Robots’ Collectives of Arbitrary Structures. 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_8
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