Decentralized Planning of Intelligent Mobile Robot’s Behavior in a Group with Limited Communications

  • Donat IvanovEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 875)


In this paper, we consider the integration of intelligent mobile robots by various designs in a coalition that together solve a common group goal, consisting of a set of individual tasks, each of which is available to some single robots of the coalition. A general approach is proposed for control such coalitions of robots, solving the problem of information exchange, integrating information about the environment from onboard sensor systems of robots from the group, planning the actions of the coalition robots. The problem of forming a mobile reconfigured distributed artificial neural network is considered. A generalized algorithm for deploying such a network is proposed. A modification of the “method of spheres” for planning the actions of the coalition robots solving the formation task is proposed. That modification is necessary for the deployment of a mobile re-configurable distributed artificial neural network in a decentralized control strategy and limited communications is proposed. The results of computer simulation of the solution of the formation task in a group of quadrotors for deployment of an artificial neural network are presented.


Heterogeneous multi-robot groups Method of spheres Formation task Intelligent mobile robot Distributed cooperation 



The reported study was funded by RFBR according to the research projects No. 17-29-07054 and No. 16-29-04194.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Southern Federal University Acad. Kalyaev Scientific Research Institute of Multiprocessor Computer SystemsTaganrogRussia

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