spatial self-organization

The problem of coscheduling spatial self-organization control processes and distributed data collection processes in a multi-agent system has been considered. The goal of coscheduling is to find and use the possibilities of functional coordination of these processes and increase the efficiency of the multi-agent system due to their parallel execution. An analysis of the main features of spatial self-organization tasks that affect the solution of the problem of coscheduling has been carried out.

The way of functional coordination of methods of organization adaptive data collection processes and methods of spatial self-organization of mobile agents by parallel execution of the corresponding data collection processes and the process of motion control of a mobile agent using the proposed protocol of their interaction and the algorithm of parallel execution planning is proposed. The method allows to speed up the calculations in the decision block of the mobile agent by an average of 40.6 %.