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• SPECIAL MODELS, ALGORITHMS AND SOFTWARE FOR PROACTIVE GROUP BEHAVIOR CONTROL OF ROBOTS

  O.V. Kofnov, S.A. Potriasaev, B.V. Sokolov, P.M. Trefilov

  2021-04-04

  Abstract ▼

  The paper describes the proactive control of robots group behavior using Behavior-Based System
  models, where the intellect is formed by a physical entities behavior. The observed complex is an
  array of distributed agents functioning in real time under disturbances. John Boyd’s OODA loop
  model is used to describe the control system work cycle of such network object. The input data of the
  control task are a planning horizon, a group action scenario, an array of agents and their possible
  elementary operations, a set of scenarios using restrictions and a quality indicator of the controlproblem solution. The output data is the distribution plan of agents in space and time to realize the
  scenario under restrictions. The developed technology predicts the environmental disturbances. The
  complex predictive modeling methodology for a self-organized robots group control is used with
  logical-dynamic models. One of the key advantages of developed combined models, methods, algorithms
  and software is the possibility to coordinate analytical and simulation control models of complex
  dynamic objects and their logical-algebraic analogs and models based on intelligent information
  technology. This coordination is on the conceptual, model-algorithmic, information and software
  detailing levels. The special language for modeling, planning, proactive monitoring and control
  task description is also developed. This language can be used for dialog interaction, calculation
  planning and data mining too. The proposed method main advantage is the non-isolated, but integrated
  solving of robotics configuration (reconfiguration) modeling, planning and management with
  the structural dynamics proactive control common problem solution.