Control of Robot Collective

Aspects of the coordinated control organization for a group of robots, united with the common job and, from this point of view, representing a unified complex system, are considered. An approach to solving the problem of subsystems interaction is suggested, based on the subsystem description in a form of the finite state machines and using a network of the specially built state machines to coordinate the subsystem operation in the process of previously formulated job both for the hierarchy (centralized control) and heterorarchy (distributed control) way of the system organization. The problem of planning the job doing function for the complex system is solved on the basis of the artificial intellect methods.