Ways of controlling the distributed mobile system in the conditions of uncertainty

In the work problems of controlling the distributed mobile systems (DMS) which elements are group of mobile robots and, probably, set of stationary sensor devices – the distributed sensor system (DSS) are considered. The problem of the organization of autonomous mobile patrol (AMP) or information monitoring of the environment is considered, one of which tasks consists in detection and watching of the dynamic objects which are not elements of patrol DMS. Within AMP its essential subtasks are considered: problems of achievement of a target configuration and information round, a problem of detection of dynamic objects on the basis of a network from virtual sensors (combining data acquisition with their processing), etc. Basis for analytical research of the specified tasks is the 'terrain' theory – metric tolerant spaces the main relation of tolerance in which is the base information and impellent relation – the visibility relation. The results of numerical modeling of DMS behavior are given.
Work is partially supported by grants of the Russian Foundation for Basic Research (RFBR) 10-07-00409, 10-01-00160.