The Method of Group Control in Multi-Agent Robotic Systems Under the Influence of Destabilizing Factors

摘要

The problem of finding the optimal solution in a self-organizing autonomous group robotic system under conditions of uncertainty is considered. A method for assessing the quality of group management based on a statistical and probabilistic decision-making criterion under uncertainty conditions has been developed. A distinctive feature of the method is the use of trust metrics. This approach allows us to identify and reduce the influence of destabilizing factors in the process of information interaction in an autonomous group of cyber-physical objects. The results can be used in the development of algorithms for group control of swarms of autonomous robotic complexes.