Conceptual aspects of organizing the operation of mobile components of environmental monitoring systems

S. G. Kapustyan   ; E. V. Melnik

Vestnik Ûžno-Uralʹskogo gosudarstvennogo universiteta. Seriâ, Matematika, mehanika, fizika, Tome 16 (2024) no. 2, pp. 12-25

Résumé

To solve the problems of monitoring large remote areas and regions, it is advisable to use groups of mobile robots as mobile components of monitoring systems. The article discusses conceptual issues of organizing the autonomous functioning of such groups of robots. The effectiveness of solving monitoring problems by a group of mobile robots is largely determined by its composition. The paper proposes an approach to solving the problem of group control of mobile robots and, in particular, solving the subtask of forming the composition of groups of mobile robots for monitoring large areas, based on the principles of self-organization of technical systems, technologies of multi-agent systems and a distributed registry. The study demonstrates that to solve this problem, intelligent multi-agent systems can be used, which include task agents and mobile robot agents. The application of the proposed approach makes it possible to form, if not optimal, then close to optimal, a group composition capable of effectively solving the problems of monitoring large areas.

Détail

Keywords: monitoring system, mobile component, multi-agent system, principles of self-organization, distributed registry
Mots-clés : group of mobile robots, optimal group composition.

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