HIERARCHICAL PLANNING OF ACTIONS OF A HETEROGENEOUS GROUP OF AUTONOMOUS MOBILE ROBOTS

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Bychkov I. V.
Academician, Dr.Sci.Tech., Director of Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of the Russian Academy of Sciences (IDSTU SB RAS),
134 Lermontov St., Irkutsk, 664033, Russia, bychkov@icc.ru.
Research interests: complex information networks, distributed computing and technologies, artificial intelligence

Davydov A. V.
Researcher, Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of the Russian Academy of Sciences (IDSTU SB RAS), Laboratory of Information and Control Systems,
134 Lermontov St., Irkutsk, 664033, Russia, tel. +7(395) 245-3085, artem@icc.ru.
Research interests: mathematical logic, artificial intelligence, robotics

Kenzin M. Yu.
Researcher, Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of the Russian Academy of Sciences (IDSTU SB RAS), Laboratory of Information and Control Systems,
134 Lermontov St., Irkutsk, 664033, Russia, tel. +7(395) 245-3085, gorthauers@gmail.com.
Research interests: metaheuristic algorithms, simulation modeling, multi-agent systems

Nagul N. V.
Ph.D. (Physics and Mathematics), Matrosov Institute for System Dynamics and Control Theory of Siberian Branch of the Russian Academy of Sciences (IDSTU SB RAS), Senior Researcher, Head of the Laboratory of Information and Control Systems,
134 Lermontov St., Irkutsk, 664033, Russia, tel. +7(395) 245-3085,sapling@icc.ru.
Research interests: systems analysis, control theory, discrete-event systems

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UDC 519.71
DOI 10.24412/2413-7383-2024-2-4-20
Language: Russian
Annotation: The article presents the general features of a multi-level approach to mission planning for groups of autonomous mobile robots. The approach combines top-level planning based on evolutionary algorithms and a logical level based on the formalization of logical discrete-event systems in the original calculus of positively formed formulas. The area of application of the developed approach is control systems for technical systems, primarily robotic complexes.
Keywords: positively-constructed formula, automatic theorem proving, prover, discrete event system, work shift scheduling problem, evolutionary algorithms, heuristics.

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Release: 2(33)'2024
Chapter: INTELLIGENT ROBOTIC SYSTEMS
How to quote: Bychkov I. V. HIERARCHICAL PLANNING OF ACTIONS OF A HETEROGENEOUS GROUP OF AUTONOMOUS MOBILE ROBOTS [Text] / I. V. Bychkov A. V. Davydov M. Yu. Kenzin N. V. Nagul // Problems of artificial intelligence. - 2024. № 2 (33). - P. 4-20. - http://paijournal.guiaidn.ru/ru/2024/2(33)-1.html

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