AUTONOMOUS MULTI-AGENT “ROBOT-GUIDE” SYSTEM TO SOLVE AREA MONITORING PROBLEMS
ITMO University, Saint Petersburg, 197101, Russian Federation; Deputy Dean
S. . Kolyubin
Saint-Petersburg State University of Information Technologies, Mechanics and Optics; postgraduate
S. A. Vrazhevsky
ITMO University, Department of Control Systems and Informatics; Student
Abstract. The problem of control over a group of robots at the “leader-follower” operation mode retaining positional relationship in unknown environment is considered. To smooth the "follower" robot motion path, an algorithm based on the gradient descent method is applied.
Keywords: robot, group of robots, multi-agent system, smoothing the path, gradient descent