Authors V.S. Zaborovsky, V.A. Muliukha, A.A. Lukashin, A.S. Ilyashenko
Month, Year 10, 2015 @en
Index UDC 004.75
Abstract The objective of this article is to develop the robotic groups control system, based on a combination of the principles of multi-agent systems functioning (autonomy, limited representation, decentralization) with the capabilities of the services provided by cloud computing technology. Robotic group is defined using an algebraic approach as a finite set carrier and set of operations and signatures. The control loop scheme of cyber-physical objects uses observing camera for positioning tasks. To determine the orientation of the robot in a space is used an approach based on specialized markers, also described in this article. The approach to the organization of the robots movement and conflict resolution to groups of robots is based on discrete algorithms of graph theory in combination with the use of virtual continuous "potential fields", to create dynamic limits for the path of the robot, as a group, and on the map as a whole. The paper describes in detail the process of calculating the values of "potential fields" and the process of calculating the trajectory of cyber-physical objects movement. A layered architecture cloud platform for control of cyber-physical objects groups on the basis of the "Pilgrim" system is constructed and shown. The basis of the developed platform is an actor approach. A notion of "avatar" is introduced as an actor functioning in the system and providing an interface for interacting with its corresponding cyber-physical object. For the organization of information interaction with the elements of cyber-physical objects’ groups is proposed to use the message queue model “Publisher / Subscriber”, which allows to organize guaranteed message delivery with the possibility for cyber-physical objects to "subscribe" for messages by specified topic. Proposed approach allows to transfer computational load from cyber-physical object to the cloud platform execution environment that will provide an almost unlimited amount of computing resources for robot and let increase the complexity of tasks for it.

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Keywords Cyber-physics; robots control; cloud computing; big data; groups control.
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