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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">novtexmech</journal-id><journal-title-group><journal-title xml:lang="ru">Мехатроника, автоматизация, управление</journal-title><trans-title-group xml:lang="en"><trans-title>Mekhatronika, Avtomatizatsiya, Upravlenie</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">1684-6427</issn><issn pub-type="epub">2619-1253</issn><publisher><publisher-name>Commercial Publisher «New Technologies»</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.17587/mau.26.139-146</article-id><article-id custom-type="elpub" pub-id-type="custom">novtexmech-1711</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>РОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫ</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="en"><subject>ROBOT, MECHATRONICS AND ROBOTIC SYSTEMS</subject></subj-group></article-categories><title-group><article-title>Сравнительный анализ методов решения задачи целераспределения и маршрутизации для мультиагентных робототехнических систем</article-title><trans-title-group xml:lang="en"><trans-title>Comparative Study of Methods for Solving Task Allocation and Routing Problems for Multi-Agent Robotic Systems</trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Хуссейн</surname><given-names>Ф. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Houssein</surname><given-names>F. А.</given-names></name></name-alternatives><bio xml:lang="ru"><p>Ф. А. Хуссейн, мл. науч. сотр.</p><p>г. Таганрог</p></bio><bio xml:lang="en"><p>F. A. Houssein</p><p>Taganrog, 347922</p></bio><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Костюков</surname><given-names>В. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Kostyukov</surname><given-names>V. A.</given-names></name></name-alternatives><bio xml:lang="ru"><p>В. А. Костюков, канд. техн. наук, ст. науч. сотр.</p><p>г. Таганрог</p></bio><bio xml:lang="en"><p>Kostyukov Vladimir A., PhD, Scientific Supervisor</p><p>Taganrog, 347922</p></bio><xref ref-type="aff" rid="aff-1"/></contrib></contrib-group><aff-alternatives id="aff-1"><aff xml:lang="ru"><institution>АО "НКБ робототехники и систем управления"</institution><country>Россия</country></aff><aff xml:lang="en"><institution>JSC "NKB Robotics and Control Systems",</institution><country>Russian Federation</country></aff></aff-alternatives><pub-date pub-type="collection"><year>2025</year></pub-date><pub-date pub-type="epub"><day>13</day><month>03</month><year>2025</year></pub-date><volume>26</volume><issue>3</issue><fpage>139</fpage><lpage>146</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Commercial Publisher «New Technologies», 2025</copyright-statement><copyright-year>2025</copyright-year><copyright-holder xml:lang="ru">Commercial Publisher «New Technologies»</copyright-holder><copyright-holder xml:lang="en">Commercial Publisher «New Technologies»</copyright-holder><license xlink:href="https://mech.novtex.ru/jour/about/submissions#copyrightNotice" xlink:type="simple"><license-p>https://mech.novtex.ru/jour/about/submissions#copyrightNotice</license-p></license></permissions><self-uri xlink:href="https://mech.novtex.ru/jour/article/view/1711">https://mech.novtex.ru/jour/article/view/1711</self-uri><abstract><p>Исследуется задача мультикоммивояжера, которая отличается от классической задачи коммивояжера тем, что рассматривается передвижение нескольких коммивояжеров, которые должны посетить определенное число городов ровно один раз и вернуться в исходную точку с минимальными затратами на поездку. Существуют три концепции решения данной задачи: на основе оптимизации, на основе концепции Cluster First—Order Second и на основе концепции Route First—Cluster Second. Последняя использовалась для решения задачи маршрутизации транспортных средств. В данной работе на основе этой концепции предложен метод для решения задачи мультикоммивояжера. Основная цель исследования — разработать эффективный метод решения, который сократит время выполнения задач и оптимизирует использование ресурсов. Для оценки эффективности разработанного метода был проведен сравнительный анализ методов решения задачи мультикоммивояжера. Выявлено, что предлагаемый метод на основе концепции Route First—Cluster Second позволяет более эффективно управлять нагрузкой и ресурсами, что способствует минимизации общего времени выполнения задач.Универсальность и применимость метода в различных сценариях, включая разное число задач и коммивояжеров, являются его особенностью. Такой подход обеспечивает более широкий охват условий задачи и позволяет оценить применимость метода в различных контекстах, что является важным итогом данного исследования.Оценка результатов основывалась на трех ключевых критериях: вычислительном времени получения решения задачи мультикоммивояжера, суммарной длине пройденных коммивояжерами маршрутов и максимальной длине маршрута. Анализ экспериментальных данных показал, что разработанный метод значительно превосходит классический подход, основанный на метаэвристике, по всем рассматриваемым критериям в большинстве экспериментов и в некоторых ситуациях превосходит подход на основе кластеризации и метаэвристики. </p></abstract><trans-abstract xml:lang="en"><p>This paper considers the multi-traveling salesman problem (MTSP), where traveling salesmen must visit a certain number of cities exactly once and return to the starting point with minimal travel costs. There are three methods for solving this problem: optimization-based, Cluster First-Order Second-based, and Route First-Cluster Second. Although the latter was used to solve the vehicle routing problem, this paper proposes a modification of it for solving the MTSP. The main objective of the study is to develop an effective method for solving this problem that will reduce the task execution time and optimize resource utilization. To evaluate the effectiveness of the developed method, a comparative analysis of the methods for solving the MTSP was conducted. It was revealed that the proposed method based on the Route First-Cluster Second concept allows for more efficient load and resource management, which helps to minimize the overall task execution time. This approach provides a wider coverage and allows us to evaluate the applicability of the method in various contexts, which is an important advantage of this study. The evaluation of the results was based on three key criteria: the computational time for obtaining a solution to the MTSP, the total length of the routes traveled by the traveling salesmen, and the maximum route length. The analysis of the experimental data showed that the developed method outperforms the classical approach based on meta-heuristics, and in all considered criteria in most experiments and in some situations it outperforms the approach based on clustering and meta-heuristics.</p></trans-abstract><kwd-group xml:lang="ru"><kwd>задача мультикоммивояжера</kwd><kwd>распределение задач</kwd><kwd>целераспределение</kwd><kwd>мультиагентные системы</kwd><kwd>групповое управление</kwd></kwd-group><kwd-group xml:lang="en"><kwd>multi-travelling salesman problem</kwd><kwd>task allocation</kwd><kwd>multi-agent systems</kwd></kwd-group><funding-group><funding-statement xml:lang="ru">Исследование выполнено за счет гранта Российского научного фонда № 24-29-00492 "Разработка методов оптимального целераспределения в группе подвижных робото- технических комплексов", https://rscf.ru/project/24-29-00492/ на базе АО "НКБ Робототехники и систем управления".</funding-statement></funding-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Laporte G., Nobert Y. 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