Structure of a Model of Situational Control for Intelligent Robots Containing SEMS Knowledge Bases, by Means of Coordinating Contexts of a Specialized Language of Their Communication

Problem statement: In some previous collections of this series “Smart Electromechanical Systems”, the authors proposed an information technology for distributing tasks in arbitrarily structured (in general case, network-centric) teams of robots based on analysis of their situational awareness. This paper considers the next stage in usage of such teams, namely the structural modifications necessary to organize interactions of the robots directly in the course of performing a common task. Purpose of research: For operative coordination of joint actions of robots, it is required to ensure their communication and mutual understanding in some common limited subset of natural language. The purpose of this stage of research is to develop and justify an appropriate method for providing information exchange between robots in the course of their work. Results: We propose to structure a robots’ team as a collective of intelligent dynamic systems after G.S. Osipov and formalize the operative distribution of tasks among the robots as a constraint satisfaction problem that is solving at changes of the situation occurred in the course of the team work. A context-oriented method is proposed for describing the current situation in the language of communication of robots and for promptly adjusting their task parameters for each member of the team. The peculiarity of the method lies in the fact that the team coordinator forms contexts that must be mutually consistent for robots directly related to the progress of the task. Practical significance: The presented approach will allow to maintaining coordinated functioning of a team of robots in case of random (not caused by conscious opposition) deviations of the current situation from the nominal one, for which the tasks were originally distributed.