Coscheduling Spatial Self-organization and Distributed Data Collection in Multi-agent System

Abstract

The problem of coscheduling spatial self-organization control processes and distributed data collection processes in a multi-agent system has been considered. The goal of coscheduling is to find and use the possibilities of functional coordination of these processes and increase the efficiency of the multi-agent system due to their parallel execution. An analysis of the main features of spatial self-organization tasks that affect the solution of the problem of coscheduling has been carried out. Variants of the mobile agent robotic platform configuration and the problem of the dependence of spatial self-organization algorithms on the type of robotic platform have been considered. A method of coscheduling of spatial self-organization and distributed data collection by coordinated parallel execution of the corresponding data collection process and the process of controlling mobile agent motion has been proposed. The method of coscheduling is implemented using the interaction protocol of these processes and the algorithm for planning their parallel execution using functional decomposition. The simulation results of the proposed method of coscheduling are given. It is proved that the proposed method of coscheduling provides acceleration of computations in the decision-making module of the mobile agent due to more efficient parallelization. On average, for typical values of parameters of control processes, the proposed method of coscheduling provides acceleration of computations in the decision-making module of the mobile agent by 40.6 %.