Authors D.Ya. Ivanov
Month, Year 04, 2012 @en
Index UDC 007.52
Abstract The paper considers the formation tasks in groups of robots for monitoring of remote objects and other problems of a multi-robotics. A formal problem statement is given. Various variants of formation tasks are shown. The article shows urgency solving the formation task, where target positions of robots are determined by their relative positions. There is a brief review of methods for solving the assignment problem, applicable to the solution of formation tasks. The new approach for solving formation task is given. The approach reduces the computational complexity of solving the problem. There is an algorithm which is based on the proposed approach for decentralized control of a group of robots to solve formation tasks.

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Keywords Group of robots; monitoring; control strategy.
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