Methodology for tasks distribution in a heterogeneous group of autonomous service units

The methods for managing the group behavior of autonomous service units are presented, and the results of their advantages and disadvantages are analyzed. A formalized formulation and quality indicators for solving the problem of optimal planning of a heterogeneous group of service units are provided. Based on the results of numerical studies, a combined planning methodology is proposed, which takes into account the specifics of the particular problem formulation, the requirements for solution quality, and the advantages of specific methods for solving the combinatorial optimization problems.

1. Pshikhopov V.Kh., ed., Intellektual'nyye tekhnologii planirovaniya peremeshcheniy podvizhnykh ob"yektov v trekhmernykh nedeterminirovannykh sredakh (Intelligent Technologies for Planning the Movement of Moving Objects in Three-Dimensional Non-Deterministic Environments), Moscow, 2017, 232 р. (in Russ.)

2. Khachumov M.V. Iskusstvennyy intellekt i prinyatiye resheniy, 2018, no. 1, pp. 3–11. (in Russ.)

3. Munasypov R.A., Muslimov T.Z. Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, no. 2(19), pp. 120–125. (in Russ.)

4. Merkulov V.I., Milyakov D.A., Samodov I.O. Izvestiya SFEDU. Engineering Sciences, 2014, no. 12, pp. 157–166. (in Russ.)

5. Muslimov T.Z. Systems Engineering and Information Technologies, 2024, no. 1(6), pp. 3–15. (in Russ.)

6. Moiseev V.S. Gruppovoye primeneniye bespilotnykh letatel'nykh apparatov (Group Application of Unmanned Aerial Vehicles), Kazan, 2017, 572 р. (in Russ.)

7. Kutakhov V.P., Mescheryakov R.V. Control Sciences, 2022, no. 1, pp. 55–60. (in Russ.)

8. Abrosimov V.K. Kollektivy intellektual'nykh letatel'nykh apparatov (Collectives of Intelligent Aerial Vehicles), Moscow, 2017, 304 р. (in Russ.)

9. Papadimitriou Ch.H., Steiglitz K. Combinatorial optimization: Algorithms and Complexity, Princeton University, Prentice-Hall inc., 1982.

10. Lelyakova L.V. Kharitonova A.G., Chernyshova G.D. Proc. of Voronezh State University. Systems Analysis and Information Technologies, 2017, no. 2, pp. 22–27. (in Russ.)

11. Simon D. Evolutionary Optimization Algorithms, John Wiley & Sons, 2013.

12. Nigodin E., Polyakov A., Polupanova E.E. Genetic algorithm for solving the assignment problem, 2019, DOI:10.13140/RG.2.2.28752.74245/2. (in Russ.)

13. Halimov N.R., Mefedov A.V. Systems of control, communication and security, 2019, no. 3, pp. 1–13. (in Russ.)

14. Nadezhdin E.N., Kotova I.F., Gluschenko V.E. Modern high technologies, 2024, no. 12, pp. 252–262. (in Russ.)

15. Kalyaev I.A., Gaiduk A.R., Kapustyan S.G. Modeli i algoritmy kollektivnogo upravleniya v gruppakh robotov (Models and Algorithms for Collective Control in Groups of Robots), Moscow, 2009, 280 р. (in Russ.