AUTONOMOUS MULTI-AGENT “ROBOT-GUIDE” SYSTEM TO SOLVE AREA MONITORING PROBLEMS
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor
S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
S. A. Vrazhevsky
Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; engineer
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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
