Geodesic
Simulation of group management of agricultural
News of the Kabardin-Balkar scientific center of RAS, no. 6 (2023), pp. 247-263.

Voir la notice de l'article provenant de la source Math-Net.Ru

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 
@article{IZKAB_2023_6_a23,
     author = {M. A. Shereuzhev and F. V. Devyatkin and D. I. Arabadzhiev and M. A. Shereuzhev},
     title = {Simulation of group management of agricultural},
     journal = {News of the Kabardin-Balkar scientific center of RAS},
     pages = {247--263},
     publisher = {mathdoc},
     number = {6},
     year = {2023},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/IZKAB_2023_6_a23/}
}
TY  - JOUR
AU  - M. A. Shereuzhev
AU  - F. V. Devyatkin
AU  - D. I. Arabadzhiev
AU  - M. A. Shereuzhev
TI  - Simulation of group management of agricultural
JO  - News of the Kabardin-Balkar scientific center of RAS
PY  - 2023
SP  - 247
EP  - 263
IS  - 6
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/IZKAB_2023_6_a23/
LA  - ru
ID  - IZKAB_2023_6_a23
ER  - 
%0 Journal Article
%A M. A. Shereuzhev
%A F. V. Devyatkin
%A D. I. Arabadzhiev
%A M. A. Shereuzhev
%T Simulation of group management of agricultural
%J News of the Kabardin-Balkar scientific center of RAS
%D 2023
%P 247-263
%N 6
%I mathdoc
%U http://geodesic.mathdoc.fr/item/IZKAB_2023_6_a23/
%G ru
%F IZKAB_2023_6_a23
M. A. Shereuzhev; F. V. Devyatkin; D. I. Arabadzhiev; M. A. Shereuzhev. Simulation of group management of agricultural. News of the Kabardin-Balkar scientific center of RAS, no. 6 (2023), pp. 247-263. http://geodesic.mathdoc.fr/item/IZKAB_2023_6_a23/

[1] Z. V. Nagoev, V. M. Shuganov, K. Ch. Bzhikhatlov et al., “Prospects for increasing the productivity and efficiency of agricultural production using an intelligent integrated environment”, News of the Kabardino-Balkarian Scientific Center of RAS, 2021, no. 6 (104), 155–165 (In Russian)

[2] S.L. Zenkevich, Zhu Hua, Ho Jianwen, “Movement of a group of mobile robots in a convoy-type formation - theory, modeling and experiment”, IV Vserossiyskiy nauchnoprakticheskiy seminar «Bespilotnyye transportnyye sredstva s elementami iskusstvennogo intellekta», eds. E.A. Magid, V.E. Pavlovsky, K.S. Yakovlev, Tsentr innovatsionnykh tekhnologiy, Kazan, 5-6.10.2017, 136–147 (In Russian)

[3] M. Shereuzhev, N. Mostakov, S. Vorotnikov, “Development of the elements of a control system for a mobile agricultural robot operating in a group”, Modeling in Engineering, 2021, 11–18, Moscow

[4] Z.V. Nagoev, O.V. Nagoeva, “Extracting knowledge from multimodal streams of unstructured data based on the self-organization of a multi-agent cognitive architecture of a mobile robot”, News of the Kabardino-Balkarian Scientific Center of RAS, 2015, no. 6-2(68), 145–152 (In Russian)

[5] A. V. Nazarova, J. Huo, S. L. Zenkevich, “Dynamic switching of multi-agent fromation in unknown obstacle environment”, Studies in systems, decision and control, 2020, no. 261, 73–87

[6] V. P. Noskov, I. V. Rubtsov, “Experience in solving the problem of autonomous control of the movement of mobile robots”, Mechatronics, automation, control, 2005, no. 12, 21–24 (In Russian)

[7] C. Hohimer, “Design and Field Evaluation of a Robotic Apple Harvesting System with a 3D-Printed Soft-Robotic End-Effector”, Transactions of the ASABE, 2019, no. 62, 405–414 | DOI

[8] S. H. Yang, W. H. Lai, “Multi-robot task allocation with fuzzy constraint satisfaction”, International Journal of Advanced Robotic Systems, 2012, no. 9 (3), 107–116

[9] B. J. Julian, B. P. Gerkey, “Scalable multirobot task allocation for complex missions”, Proceedings of the International Conference on Intelligent Robots and Systems, 2007, 2730–2736

[10] S. Lacroix, I. R. Nourbakhsh, N. Tomatis, “Multi-robot task allocation in uncertain environments using negotiation”, Robotics and Autonomous Systems, 3:37(2) (2001), 163–179

[11] Z. Shi, H. Yu, Q. Zhang, Y. Cheng, “A hybrid algorithm for task allocation in multi-robot systems based on improved Hungarian algorithm and particle swarm optimization”, International Journal of Advanced Robotic Systems, 2015, no. 12 (8), 1–13

[12] S. Martinelli, M. Giordani, F. Lujak, “A Distributed Algorithm for the Multi-Robot Task Allocation Problem”, IEA/AIE 2010: Trends in Applied Intelligent Systems. Cordoba, 2010, Springer, Spain

[13] R.R. Galin, “Virtual training ground for effective interaction of robots in a multi-agent robotic system”, News of the Kabardino-Balkarian Scientific Center of RAS, 2018, no. 6-2(86), 108–113 (In Russian)

[14] R. R. Shamshiri, I. A. Hameed, M. Karkee, C. Weltzien, “Robotic Harvesting of Fruiting Vegetables: A Simulation Approach in V-REP, ROS and MATLAB”, Automation in Agriculture Securing Food Supplies for Future Generations, 2018 | DOI