ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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12
Issue
vol 59 / DECEMBER, 2016
Article
UDC 681.53

AUTONOMOUS MULTI-AGENT “ROBOT-GUIDE” SYSTEM TO SOLVE AREA MONITORING PROBLEMS

A. S. Kremlev
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