Organization of Information Exchange in Coalitions of Intelligent Mobile Robots

摘要

The article is dedicated to the organization of information exchange within the group of intelligent mobile robots, when they are combined into a coalition to solve the general group task. It provides an analytical review of existing approaches and technologies for organizing an information interaction in groups of intelligent mobile robots. The article contains a brief analysis of the information exchange organization features depending on the type of strategy to control the coalition of robots. Centralized and decentralized control strategies and a swarm interaction within a group of robots are considered. A new method for organizing information exchange in the coalition of intelligent mobile robots is proposed, taking into account the limited capabilities of on-board telecommunication devices. The proposed method is based on the principles of clustering robotic coalitions, hybrid topology, the application of the epidemic algorithm, and methods of the swarm intelligence for routing. The software simulation results are presented.