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Instruments and Systems: Monitoring, Control, and Diagnostics

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Multiagent approach in the management of non-stationary complex technical objects
I.A. IVANOVA

This article discusses problems of control of a group of UAV. To solve this problem is proposed to use multiagent approach. The
architecture of multi-agent control system and three-layer model of management, acting in the framework of this architecture, are
presented. Presented model allows to ensure the formation of a group to perform the task, safe transfer of UAVs in the group and
exchange of data in the group. Algorithms of the upper level, which determines the purpose of system are discussed in detail. In
particular, the algorithm of flocking that is implementation of behavioral Reynolds algorithm for solving problems of the upper
layer of the model. At this level, carried out analysis of objectives, targets and scenarios of execution. The use of metric routing
algorithm for communication between the UAV and the algorithm of the distribution of tasks within the group are shown. These
algorithms provide a solution to the problems of the middle layer model (interaction of objects). For solving the task of lower
level (management of individual UAV) proposed to use the existing hardware and software systems. The proposed three-layer
multi-agent system provides the flexibility, allowing, if necessary, to dynamically change the objectives of the group.
Keywords: unmanned aerial vehicle, multi-agent approach, the control of UAV group flight, Reynolds algorithm, flocking.

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