SEMS-Based Control in Locally Organized Hierarchical Structures of Robots Collectives

Objective Development of brainware to integrate interactions of hierarchical groups of robots, built on the basis of SEMS modules, with the purpose to support making objective compromise strategic and tactical decisions. Results Coordination and planning methods are proposed for hierarchical collectives of such robots within the frame of the situational approach. Sufficient conditions are obtained for coordinability of hierarchical dynamic systems with using local quality criteria gradients and ideas of local organization of reasonable behavior. For groups of robots built in the paradigm of Dynamic Intelligent Systems (DIS), a coordination principle is proposed based on the known principles of interactions prediction. On the basis of the notion of the effective N-attainability, a procedure is developed to directly synthesize plans to control such collectives. Practical significance The proposed methods of coordination and planning will allow efficient usage of available resources in order to provide acceptable results for all (or most) modules having purposeful behavior.