Intellectual Model of Mobile Robots Coalitions Formation in Network-Centric Group Control Systems

Problem statement An important feature of the network-centric intelligent mobile robots group control system for is the requirement of structural-goal adaptation, which should provide the ability to solve a wide class of tasks under uncertain environment. One of the basic mechanisms of structural-goal adaptation is the formation of coalitions of mobile robots with a heterogeneous structure and focused on solving complex tasks corresponding to the current situation. The heterogeneity property of the mobile robots coalition means that the members of the coalition, from one side, have a common goal and form their strategies based on cooperative interaction, and from the other side, have different competencies and individual characteristics that determine their specialization and efficiency. Thus, the problem of a heterogeneous coalitions structure forming in a network-centric group control system has a game and multicriteria character, and in this aspect has not been sufficiently investigated. Purpose of research the structural-goal adaptation intelligent technology development of network-centric group control systems based on multi-criteria game-theoretic heterogeneous coalitions formation models. Results A methodology has been developed for a heterogeneous coalition of mobile robots formation based on a hybrid model of multicriteria efficiency estimation and clustering of group control network-centric system infrastructure elements. A hybrid model includes graph and game components. The graph component characterizes the communication properties of infrastructure elements, and the game component characterizes the possibility of cooperation and the availability for each coalition of relevant necessary a competencies set for the task solving. The multicriteria clustering technique is based on the efficiency index of network-centric system infrastructure elements calculating. A library of algorithms for vector effectiveness indicator components of the of a network-centric system elements calculating based on network centrality and game-theoretic centrality metrics has been developed. A heterogeneous coalition formation can be considered as one of the tools for mobile robots social behavior models creating in group control tasks Practical significance The applied problem of an ad hoc heterogeneous coalition forming in a network-centric system has been solved. To calculate the vector indicator effectiveness components of the infrastructure elements of a network-centric system, the network metric of betweenness centrality and the game-theoretic metric of centrality by the Shapley vector were used. The problem of a network-centric system information infrastructure critical elements identifying from the point of view of ensuring its security has been solved.