Algorithms for Distributing Goals in a Group of Robots

This article proposes a method for creating a multi-agent adaptive work planning system for a group of robots for joint missions. The goal of the current and future development is to create comprehensive scientific and technical solutions for coordinating the planning and management of the actions of a group of robots. Within the framework of this direction, the article considers the algorithm for distributing goals between the agents of the group. The algorithm is aimed at solving the problem of optimizing the distribution of tasks in order to achieve a common goal with minimal cost and maximum benefit. The problem of collective management of groups of robots in the sequential or parallel solution of subtasks (sub-goals) generated by decomposition of common tasks. Moreover, optimal or similar solutions for these tasks are generated as global tasks for the entire group of robots. The article describes in detail the algorithm and an example of the distribution of tasks in a group of robots.