Simulation of group management of agricultural robots using finite state machines and ontologies

The article discusses a method for modeling the operation of a control system for a group of robots. A knowledge base of a group control system is proposed, presented in the form of ontology. The finite state machines of the leading and driven robots are described. An algorithm for assigning tasks to individual robots is considered and tools for modeling motion control and task distribution are configured to provide a unified software environment for modeling group control. The Hungarian algorithm is considered in the context of assigning tasks to individual robots; the A* (Astar) planner was used to estimate movement paths. Tools for modeling motion control and task distribution have been configured to provide a unified software environment for modeling group control. The results obtained are applicable in problems of optimizing the interaction of multi-agent systems.