Optimal control of multifunctional reconfigurable robotic systems
2025, vol.17 , no.2, pp. 33-44
Article [2025-02-04]
This article discusses the optimal control of a robotic system composed of multi-modular robots. Functionally, these robots can perform various tasks using different combinations of modules, making both the robotic system and its individual robots multifunctional. The article examines the operation of a robotic complex in which an individual robot may experience either complete or partial failure. To enhance the efficiency of the robotic complex, we have developed innovative models and algorithms for the optimal selection, distribution of functions, replacement, and interchangeability of robots. In the event of a complete failure, the failed robot is optimally replaced by a backup robot. In the case of a partial failure, optimal robot interchangeability is implemented. To study and evaluate reliability criteria, the article employs optimization methods, logical-probabilistic modelling, and dynamic programming.
multifunctional modular robots, reconfigurable robotic system, optimal management, reliability, flexibility
https://doi.org/10.59035/TAXZ5780
Sergo Tsiramua , Sulkhan Sulkhanishvili , Roman Chertovskih , Irakli Basheleishvili . Optimal control of multifunctional reconfigurable robotic systems. International Journal on Information Technologies and Security, vol.17 , no.2, 2025, pp. 33-44. https://doi.org/10.59035/TAXZ5780