Network-centric motion control algorithm for a group of mobile robots

When solving reconnaissance and tactical tasks, methods of mobile robots group application show high efficiency. Robotic groups, based on the network-centric system of control, are characterized by the superiority of intelligence systems over enemy intelligence systems, including the reliability, timeliness and accuracy of the extracted information. At the same time, planning the group trajectory that facilitates communications maintenance with the aim of transmitting control signals becomes a priority in the implementation of such secure systems. The paper proposes a scientific approach to handling the task of mobile robots motion planning under the conditions of providing mechanisms for secure interaction between the agents of a robotic system, using steganographic methods to hide control signals. Previously, the authors developed and tested methods and algorithms as well as software solutions for concealing control signals and the facts of their transmission within the process of intellectual interaction of a robotic systems group when they address a common problem, as well as verification of agents by a dynamic tuple of identification attributes. In the ongoing study, we put forward the software for trajectory planning of a heterogeneous multi-agent robotic system on the condition of maintaining communications to perform the transfer of control signals.

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