This paper presents the problem of application of modern developments in the field of bio-energy for the development of autonomous mobile robots' power sources. We carried out analysis of biofuel cells, gasification and pyrolysis of biomass. Nowadays, very few technologies in the bioenergy field are conducted with regards to the demands brought by robotics. At the same time, a number of technologies, such as biofuel cells, have now already come into use as a power supply for experimental autonomous mobile robots. The general directions for research that may help to increase the efficiency of power energy sources described in the article, in case of their use in robotics, are also presented.

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The article discusses using discrete-event models to control the coordinated behavior of groups of agents and proposes a mechanism for organizing behavior control based on a hierarchy of finite state machines (FSM). The basic level of agent movement control uses a continuous model of joint movement — the method of potentials, in which the direction of movement is determined by the total sum of the forces of "repulsion", "attraction" and "course alignment". The paper describes a set of independent rules for the group movement of agents — cohesion, distribution, leader following, movement along a chain of landmarks, pursuit, etc. Moreover, all of them are interpreted in terms of the results of the operation of FSM models. Mathematical modeling of controlling a group of agents was carried out using the independent rules of group movement, which confirmed their efficacy. Computational experiments were also carried out using the Gazebo 3D simulator. In addition, the paper describes an experimental group of three underwater vehicles that were used to test the independent rules of group movement: cohesion, distribution, leader following. Communication between the devices was carried out using a system of infrared transceivers via a pseudo-analog channel. The experiments were carried out in a laboratory pool and were successful.The paper shows that the technology for creating group control systems based on the hierarchy of FSM (meta-FSM) allows solving control problems not only at the level of abstract models and simulation modeling, but also at the level of creating real robotic complexes.