Abstract:
The article discusses a method for modeling the operation of a control system for a group of
robots. A knowledge base of a group control system is proposed, presented in the form of ontology. The
finite state machines of the leading and driven robots are described. An algorithm for assigning tasks to
individual robots is considered and tools for modeling motion control and task distribution are configured
to provide a unified software environment for modeling group control. The Hungarian algorithm is
considered in the context of assigning tasks to individual robots; the A* (Astar) planner was used to estimate
movement paths. Tools for modeling motion control and task distribution have been configured to provide
a unified software environment for modeling group control. The results obtained are applicable in problems
of optimizing the interaction of multi-agent systems.
Keywords:multirobot control system, ontology, robotic system, finite state machine
Citation:
M. A. Shereuzhev, F. V. Devyatkin, D. I. Arabadzhiev, M. A. Shereuzhev, “Simulation of group management of agricultural
robots using finite state machines and ontologies”, News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences, 2023, no. 6, 247–263
\Bibitem{SheDevAra23}
\by M.~A.~Shereuzhev, F.~V.~Devyatkin, D.~I.~Arabadzhiev, M.~A.~Shereuzhev
\paper Simulation of group management of agricultural
robots using finite state machines and ontologies
\jour News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences
\yr 2023
\issue 6
\pages 247--263
\mathnet{http://mi.mathnet.ru/izkab738}
\crossref{https://doi.org/10.35330/1991-6639-2023-6-116-247-263}
\elib{https://elibrary.ru/item.asp?id=https://www.elibrary.ru/item.asp?id=58804983}
\edn{https://elibrary.ru/SVSRRK}
Citation in format AMSBIB
Contact us: