ABSTRACTS OF ARTICLES OF THE JOURNAL "INFORMATION TECHNOLOGIES".
No. 5. Vol. 26. 2020

DOI: 10.17587/it.26.274-282

T. M. Volosatova, Ph.D., Associate Professor, e-mail: tamaravol@gmail.com, CAD System Department, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation, A. V. Kozov, Engineer, e-mail: alexey.kozov@gmail.com, A. A. Tachkov, Ph.D., Head of the Department "Automated transport systems", e-mail: tachkov@bmstu.ru Science and Educational Center "Robotics" Bauman Moscow State Technical University,
Moscow, 105037, Russian Federation

The Control System for a Group of Mobile Robots from the Perspectives of Automated Designing

This paper is devoted to the features of the design process of a control system for a group of mobile robots. We considered group of mobile robots operated in a non-deterministic changing environment. Firefighting operations in oil and gas complex are given as example of such group using. The features of the group control system are considered in paper. It is shown that the group control system has to be considered as a dynamically reconfigurable hierarchical discrete-event distributed system. These properties are analyzed in terms of designing and implementing a group control system. The features of a group control system as a designing object are described, as well as the possibility of vertical and horizontal decomposition of the design problem, Moreover, the synthesis methods and existing software tools are considered. The analysis revealed the need to automate the process of designing software and algorithms of group control systems. We considered the synthesis procedures and proposed opportunities to simplify them using such software engineering methods as a formal verification of software and domain-specific languages. The problems of specialized computer-aided design (CAD) system for software and algorithms of control system for group of mobile robots are formulated. Furthermore, the directions of future development are briefly outlined.
Keywords: control system, group control, distributed system, discrete-event system, dynamic reconfiguration, software and algorithms, mobile robot, design automation

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