Хранение и обработка распределенных данных в группе мобильных роботов
This paper discusses a problem of distributed data processing in mobile robot’s group. The robot’s group is typified as a static swarm. Static swarm is a model, which is characterized by the absence of a control сenter and is represented by the network with fixed topology at some time interval which consists of locally interacting agents. The main features that distinguish the robot’s group general database from the classic distributed database are described. It is shown that the database does not require the global data dictionary storing information about the location of the database fragments. The data structure on each node is the same and can be described in the reference table. This table is loaded into robot’s memory when robot is initialized and, in fact, is the data dictionary. This database does not require distributed transactions, because data is written in the general database locally. The approach of logical queries organization in general database is offered. Definitions of imprecise and inconsistent data conformably to data which robots in the group are exchanging with are given. The approach of processing imprecise and inconsistent data which come to robot is proposed. This approach is based on elements of multisets theory, fuzzy sets theory and on evaluation of data reliability degree. The reliability degree is based on the experience of the previous data exchanges between robots. An important feature of the proposed method of imprecise and inconsistent data processing is that it is computationally simple and does not require much memory to store auxiliary information.