Abstract
AbstractThis paper describes a model of a multi-robotic complex which is based on a previously developed method of robustly stable motion control of a group of mobile robots (MR) with a leader in solving monitoring problems by multi-robotic systems (MRS) in the presence of an indefinite, limited time delay in the communication channels of the MR-leader with group of MRs arising from the exchange of information through a distributed data registry. MR complex is a group of robots of various types and numbers. Any robot could carry various types of smart sensors. The effectiveness of the proposed model is achieved by a control system, the multidimensional digital control device with sufficiently high order. Algorithms for calculating the values of control actions are obtained using decomposing control and the method of analytical synthesis of systems with control by output and actions. It was achieved the property of robustness to deviations of uncertain delays in the communication channels of each MR by using the property of the previously proposed polynomial control equations. There were testing the performance and effectiveness of the proposed approach by the help of the simulation software model for the functioning of MR groups as MatLab numerical experiments.KeywordsDecentralized decision support systemBlockchainRobotics
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