Simulation of group management of agricultural robots using finite state machines and ontologies

M.A. Shereuzhev, F.V. Devyatkin, D.I. Arabadjiev, M.A. Shereuzhev

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Abstract. The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented in the form of ontology. The finite state machines of the leading and driven robots are described. An algorithm for assigning tasks to individual robots is considered and tools for modeling motion control and task distribution are configured to provide a unified software environment for modeling group control. The Hungarian algorithm is considered in the context of assigning tasks to individual robots; the A* (Astar) planner was used to estimate movement paths. Tools for modeling motion control and task distribution have been configured to provide a unified software environment for modeling group control. The results obtained are applicable in problems of optimizing the interaction of multi-agent systems.

Keywords: multirobot control system, ontology, robotic system, finite state machine

For citation. Shereuzhev M.A., Devyatkin F.V., Arabadjiev D.I., Shereuzhev M.A. Simulation of group management of agricultural robots using finite state machines and ontologies. News of the Kabardino-Balkarian Scientific Center of RAS. 2023. No. 6(116). Pp. 247–263. DOI: 10.35330/1991-6639-2023-6-116-247-263

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Information about the authors

Shereuzhev Madin Arturovich, Senior Teacher of the Department of “Robotic systems and mechatronics”, Moscow State Technical University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
shereuzhev@bmstu.ru, ORCID: https://orcid.org/0000-0003-2352-992Х

Arabadzhiev Denis Igorevich, Graduate Student of “Robotics and mechatronics” Department, Moscow State Technical University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
arabadzhievdi@student.bmstu.ru
Devyatkin Fedor Vladimirovich, Graduate Student of “Robotics and mechatronics” Department, Moscow State Technical University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, building 1;
feodor-dev@ya.ru
Shereuzhev Marat Arturovich, Postgraduate Student of “Agronomy” Department, Kabardino-Balkarian State Agrarian University named after V.M. Kokov;
360030, Russia, Nalchik, 1v Lenin avenue;
Trainee researcher of the Laboratory “Intellectual Habitats” of the Institute of Computer Science and Problems of Regional Management – branch of Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences;
360000, Russia, Nalchik, 37-a I. Armand street;
marat.shereuzhev07@mail.ru, ORCID: https://orcid.org/0000-0001-7368-4691