The method of saving data integrity for decentralized network of group of UAV using quantized gossip algorithms

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• 作者：Kirill Tyushev^* ; ^{kirill.tyushev8@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Konstantin Amelin^* ; ^** ; ^{konstantinamelin@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Boris Andrievsky^* ; ^*** ; ^{boris.andrievsky@gmail.com" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Load balancing ; UAV ; consensus achievement ; multi-agent networks ; quantized gossip algorithms ; mobile robots ; data storage
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：13
• 页码：259-264
• 全文大小：613 K

文摘

In this work the method of communication and maintenance of integrity of data in the decentralized network of autonomous mobile robots is suggested. The software and hardware feasibility of such method is proposed. For collective storage and maintain integrity of data in decentralized group of mobile robots the algorithm of checksum calculations is proposed. Quantized gossip algorithms are considered as basis of checksum calculations algorithm. The local voting protocol is used for load balancing of mobile robots. For the programming implementation of the communication of data multi-agent technology is used. An ultra light, unmanned aerial vehicle (UAV) is considered as the mobile robot.