title: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¾ÑÐºÐ°Ð·Ð¾ÑÑÑÐ¾Ð¹ÑÐ¸Ð²Ð¾Ð³Ð¾ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸ Ð³ÑÑÐ¿Ð¿Ð¾Ð¹ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Algorithms for planning the fault-tolerant execution of a transport task by a group of autonomous robots
Creators: name: Ð¤Ð°ÑÐºÑÐ»Ð»Ð¸Ð½, Ð­Ð´ÑÐ°ÑÐ´
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2021
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
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description: The work is devoted to the study of algorithms for controlling a group of robots when moving towards a goal with continuous communication. The aim of the work is to develop and research algorithms that allow a group of robots to achieve their goals without interrupting communication with each other, even in the conditions of failure of individual members of the group. As a criterion for the optimality of the movement, a metric is chosen that uses the length of the path and the minimum of the slope passed. As a result, were developed: a general motion algorithm that uses the group structure of the group organization and the "line" type organization, built on the basis of the modified Theta* algorithm. A prototype was implemented and a method of conducting experiments to determine the time to reach the goal for different probabilities of robot failure and the number of robots in the group was developed. During the experiments, the linear dependence of the path calculation time on the number of robots was confirmed. The results can be applied to manage a coalition of autonomous robot groups under static map conditions to optimize the group's path by several criteria.