Model of intelligent planning of robot behavior in a team of robots

The article deals with an urgent problem related to organization of control of a team of intelligent mobile robots and their interaction with each other for the most effective achievement of the goal. The research is aimed at development of interrelated models of intelligent planning of robot behavior, which is based on a market approach resting on a new risk equilibrium model. The substantial and formal formulations of the task of planning of autonomous mobile robots activities are proposed. The author’s model and a set of new simulation models for calculation of the overstatement, understatement costs, as well as their risks are developed. Various calculation algorithms are proposed for various variants of robot interaction: control under conditions of a restricted limit of the most scarce resource (for example, battery energy); interaction between robots using information products (messages); robot control from the center; purchase and sale of the information product; making a decision on subordination and support of communication between robots, etc. Examples of description of robot behavior options (speed of movement, equipment with photos, videos, sampling tools, energy limit), classification of events (fire, traffic accident, violation of law and order, emergency situations, suspicious object) are offered. Examples of calculation procedures are given: robot behavior options, if it is possible to maintain speed depending on energy consumption; adjustment factors to take into account increase of the probability to detect an event due to improvement of the photo quality (wide format, high definition, frame frequency).