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Group Control

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Introduction to the Theory of Smart Electromechanical Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 486))

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Abstract

This chapter discusses the features of the synthesis of automatic control systems SEMS in group control. The expediency of using the principles of situational control in this case is shown. The problems of finding the optimal situational control algorithm are discussed, which always arise for the SEMS group in the joint execution of technological operations. It is concluded that the natural time limit for making an optimal decision on the situational control of a group of SEMS in real time imposes restrictions on the number of members of the controlled group and the distance between them, associated with the dynamics of the choice of environment and the dynamics of controllability of the SEMS themselves. Mathematical and algorithmic methods of decision support are given. To do this, for example, it is possible, based on the purpose of a particular robot, to compile a list of possible instructions. Then, using mathematical and computer modeling, determine a set of acceptable instructions for group behavior. It is shown that when solving this problem, it is necessary to take into account the dynamic characteristics of robots, which can be optimized by adjusting the parameters of automatic control systems for robots. Various approaches to decision making are analyzed: deductive, inductive and abductive, and it is concluded that the latter is the fastest by analogy with intuition, but its reliability depends on the completeness of the base of good decisions from past experience, i.e. depends strongly on the operating time of such robots in similar environmental conditions. When determining the optimal solution under conditions of incomplete certainty, it is advisable to use binary relations that can be expressed as logical equations in the Zhegalkin algebra, reduced to a matrix form, which makes it easy to parallelize the process of finding the optimal solution. Particular attention is paid to the issues of safe control. At the same time, the possibility of using influence diagrams is shown. The choice of specific circuit structures depends on the tasks solved by the group, the properties of the environment for the functioning of the group, the characteristics of the members of the group, and the resources available to implement the control system. Algorithms for assessing the risks of accidents on the sections of the analyzed routes are given, taking into account the “observed” area of the terrain. Estimates of group intelligence of robots and a generalized structure of a software package for testing models of groups of intelligent robots, including expert systems for creating dynamic models of interacting robots and environments, are proposed.

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  1. Institute for Problems in Mechanical Engineering (IPME), Russian Academy of Sciences (RAS), St. Peterburg, Russia

    Andrey E. Gorodetskiy & Irina L. Tarasova

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  1. Andrey E. Gorodetskiy
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Gorodetskiy, A.E., Tarasova, I.L. (2023). Group Control. In: Introduction to the Theory of Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 486. Springer, Cham. https://doi.org/10.1007/978-3-031-36052-7_3

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