Distribution of Roles in a Dynamic Swarm of Robots in Conditions of Limited Communications

The paper deals with the problem of the distribution of roles in coalition robots with limited communications. A formal formulation of the task of role distribution in the coalition of mobile robots is given. An analysis of existing approaches to the distribution of roles in groups of robots is given, such as solving the assignment problem by the Kuhn-Munkres algorithm, using the game theory apparatus, applying the methods of probability theory, and the method of propagating the control wave using a local conversion mechanism. An iterative approach to the distribution of roles in a group of robots, based on the strategy of decentralized control and the principles of swarm interaction, is proposed. A method for the distribution of roles in coalitions of mobile robots and an algorithm that implements this method for a separate coalition robot in the distribution of roles based on the proposed approach are described. The results of the study of the proposed approach, carried out with the help of computer simulation in coalitions of 100 robots in the distribution of three roles, are presented. The estimation of the error of the distribution of roles using the proposed algorithmically implemented method has been made and compared with the known approaches. The areas of possible practical application of the developed approach are shown.