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A System for Robot Swarm Control with a Single Remote Controller
https://doi.org/10.17587/mau.26.471-479
Abstract
Robot swarm control is one of the most important tasks in the field of unmanned vehicles. The paper presents an architecture of semi-centralized system that allows one to control an entire robot swarm as a single entity with a single remote controller. The proposed system integrates intragroup communication, Local Voting Protocol-based algorithm for formation m aintenance, a method to overcome noises and communication breaks between some of the robots and the remote controller. Conducted experiments demonstrate the efficiency of the proposed system even in complex and unpredictable environments.
Supporting agencies: The research was carried out with the financial support of St. Petersburg State University, project code 121061000159-6.
About the Authors
K. Amelin
Saint Petersburg State University
Russian Federation
Russian Federation
K. Amelin, Centre for AI and Data Science
St. Petersburg, 199034
I. Arkhipov
Saint Petersburg State University
Russian Federation
Russian Federation
I. Arkhipov
St. Petersburg, 199034
O. Granichin
Saint Petersburg State University
Russian Federation
Russian Federation
Granichin Oleg N., Dr. Sc. in Physics and Mathematics, Professor
St. Petersburg, 199034
V. Kiselev
Saint Petersburg State University
Russian Federation
Russian Federation
V. Kiselev
St. Petersburg, 199034
A. Chernov
Saint Petersburg State University
Russian Federation
Russian Federation
A. Chernov
St. Petersburg, 199034
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Review
For citations:
Amelin K., Arkhipov I., Granichin O., Kiselev V., Chernov A. A System for Robot Swarm Control with a Single Remote Controller. Mekhatronika, Avtomatizatsiya, Upravlenie. 2025;26(9):471-479. (In Russ.) https://doi.org/10.17587/mau.26.471-479
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