Semi-Markov Modelling of Commands Execution by Mobile Robot

Larkin, Eugene; Ivutin, Alexey; Kotov, Vladislav; Privalov, Aleksandr

doi:10.1007/978-3-319-43955-6_23

Cited by 10 publications

(2 citation statements)

References 7 publications

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“…When the algorithm simulated has the only outcome, and consequently . When , then semi-Markov process gets subset E , veraciously, but the state it gets with probability [ 12 ] …”

Section: Petri-markov Model Of Synchronized Operationmentioning

confidence: 99%

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Synchronized Swarm Operation

Larkin

Akimenko

Privalov

2020

Lecture Notes in Computer Science

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Physical swarm system, including number of units, operated in physical time according to corporative algorithm, is considered. It is shown, that for proper corporative algorithm interpretation it is necessary to synchronize computational processes in units. Structural-parametric model of synchronized swarm operation, based on Petri-Markov nets apparatus, is worked out. In the Petri-Markov net transitions are abstract analogues of synchronization procedure, while places simulate corporative algorithm parts interpretation by swarm units. Primary Petri-Markov model is transformed into complex semi-Markov process. Formulae for calculation of stochastic and time characteristics of the process are obtained. It is shown, that after transformation all methods of ordinary semi-Markov processes investigation may be used for synchronized systems. With use the concept of distributed forfeit effectiveness of synchronization is evaluated.

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“…When the algorithm simulated has the only outcome, and consequently . When , then semi-Markov process gets subset E , veraciously, but the state it gets with probability [ 12 ] …”

Section: Petri-markov Model Of Synchronized Operationmentioning

confidence: 99%

“…After transformation for investigation of swarm behavior investigation and calculation of wandering time intervals all possible methods of semi-Markov process analysis may be used [ 9 – 12 ].…”

Section: Transformation Pmn To Complex Semi-markov Processmentioning

confidence: 99%

Synchronized Swarm Operation

Larkin

Akimenko

Privalov

2020

Lecture Notes in Computer Science

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On Assessing the Temporal Characteristics of Reaching the Milestone by a Swarm

Larkin

Antonov

2020

Lecture Notes in Computer Science

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The physical swarm operation is investigated. Swarm units are considered as three-wheeled mobile robots, moving through rough terrain. For the longitudinal movement of such type vehicle the dynamic model is obtained. The article discusses the issue of forecasting the time a physical swarm reaches a milestone and proposes a hypothesis on the form of the law of the distribution of time during which a swarm unit reaches a milestone. Obtaining this time distribution is carried out with use the Petri-Markov net fundamental apparatus. With use Petri-Markov nets time densities of reaching the milestone both one unit and swarm as a whole are obtained. More common formula of distribution of time of milestone reaching by l units of K is obtained too. To confirm the hypothesis about the type of theoretical time distribution a computer experiment was carried out using the Monte Carlo method.

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Embedded Digital Control System of Mobile Robot with Backlash on Drives

Larkin

Privalov

2022

Proceedings of the International Conference on Intelligent Vision and Computing (ICIVC 2021)

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Semi-Markov Modelling of Commands Execution by Mobile Robot

Cited by 10 publications

References 7 publications

Synchronized Swarm Operation

Synchronized Swarm Operation

On Assessing the Temporal Characteristics of Reaching the Milestone by a Swarm

Embedded Digital Control System of Mobile Robot with Backlash on Drives

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