Modeling of algorithms of disaster tolerance of robot groups on hardware and software Elbrus

摘要

In operation of ground-based robotic systems for military purposes, due to target actions of an opposing party, numerous failures might occur that lead to a suddenly changed state of the system and, therefore, fall into the category of catastrophic failures. In this case, we face the question of providing the disaster tolerance as an ability of a group of robots to continue operations with partially lost efficiency. A significant but still unresolved issue regarding ground-based robot systems is their equipment with computing equipment developed on domestic microprocessors and software. The paper includes offered techniques and algorithms that serve as a basis for building of disaster-tolerant control systems of ground-based robot systems based on domestic computer systems and software. Authors have developed the algorithms to ensure tolerance of on-board control systems against catastrophic failures. Authors have received numerical results that show the increased operation time of groups of robots in case of catastrophic failures. The findings improve import substitution options in the field of robotics.