Algorithm for Interaction of UAVs and Ground-Based Robotic Systems for Collaboration Operations over Vast Territory

This work proposes group interaction algorithms that take into account not only the different functionality of the robotic systems, but also their state and sensor data, which rebuild paths in real time in order to avoid collisions with obstacles. The scenario for maintaining communication over a vast area by delivering communication devices for the interaction of a heterogeneous group is considered. To simulate the collaborative interaction of a group of heterogeneous robotic systems, the algorithms were developed. These algorithms include the algorithm for the distribution of target points and the algorithm for planning trajectories. In this work, the algorithm for the optimal distribution of clusters of a heterogeneous group of robotic system and the determination of the composition of clusters in order to ensure the connection of robotic systems was proposed. The results of experiments on modeling the interaction of a heterogeneous group using the proposed algorithms showed the operability of the proposed solution for the problem of simultaneous operation of a heterogeneous group over a vast area with communication by ground and air robotic systems, as well as the potential applicability of the proposed algorithms in real conditions.