Model of Multi-robotic Complex at the Base of Distributed Registry for Monitoring and Diagnostics System

Abstract

AbstractIt is suggested a new model of multi-robotic complex and a method of control synthesis. The developed method is the method of robustly stable motion control of a group of mobile robots (MR) with a leader. The method lets solving of monitoring problems by multi-robotic complexes (MRC) when it is indefinite and limited time lag of communication channels of MR leader and other MR members of the group. The time lag depends of exchange information processes also through distributed data register. Calculating algorithms of values of control actions are obtained at the base of the decomposing control method and the method of analytical synthesis of systems with output and action control. The proposed method is demonstrated as functioning of multi-robotic complexes which are based on heterogeneous group of drone aircrafts. There were suggested polynomial control equations. The equations let to achieve the property of robustness to deviations of indefinite delays in the communication channels of each MR with the leader.The effectiveness of the proposed model and method is achieved by using of the control system, the multidimensional digital control device and possibility of integrating the developed model to distributed ledger technology.The model of a multi-robotic complex and the new method of control synthesis have been realized to optimize and increase the efficiency of collecting initial data in monitoring and diagnostics systems for various applications.KeywordsData collectionData miningMobile robotsMulti-robotic complexesDecentralized decision support systemBlockchain