Distributed Solution of Problems in Multi Agent Robotic Systems

  • Anaid V. NazarovaEmail author
  • Meixin Zhai
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 174)


Over the past decade, multi-agent systems (MAS) have become widespread, especially in the context of advances in smart electromechanical systems (SEMS) and the solution of distributed problem in swarm control. The properties of agents, such as autonomy and reactivity, as well as the possibility of dynamic interaction, make it possible to implement their cooperative actions in achieving common goals, and motivate SEMS a matter of serious scientific interest. Multi-agent robotic systems, combining different specialization of robot-agents, are able to accomplish assignments without any external interference, which ensure high reliability and adaptability of such systems. In order to successfully complete a common task, robot-agents must conduct complex negotiations, cooperate and coordinate their actions with each other. Each part of multi-agent robotic systems is impossible achievement common goal without the dynamic redistribution of tasks between agents in changing environmental. Purpose of research: The main approaches to the construction of models for the distribution of tasks among the MAC were analyzed. The various algorithms were compared and their mathematical modeling were established. Results: The centralized and decentralized methods of distribution tasks among agents were investigated with the aim of achieving an optimal result in minimal time and no conflicts in SEMS. Practical significance: The presented algorithms can be used to control a multi-agent system, considered as SEMS, especially to complete tasks, which are critical to the execution time, such as search and rescue operations in the case of natural or man-made disasters.


Multi-agent systems Robot SEMS Static and dynamic distribution of tasks Dynamic models Swarm intelligence Ant colony algorithm and genetic algorithm Auction algorithm 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Bauman Moscow State Technical UniversityMoscowRussia

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