Method for decomposition a global task into local tasks through the process of collective decision making in swarm robotic systems

Objective. The purpose of the work is to increase efficiency process task allocation through preliminary decomposition and prioritization tasks based on collective decision-making (CDM) in swarm robotic systems (SRS). Method. Task implemented using a hybrid strategy, majority principle changing opinions distributed registry technology for disseminating among SRS agents aggregating accumulated knowledge about functioning environment. An element scientific novelty proposed procedure, which provides possibility assessing priority tasks, turn improves agents. Result. Software implementation method made C++ programming language. For experiments, scenario perception by specialized simulation environment ARGoS was used. Conclusion. solutions turned out be more efficient than greedy algorithm. can used not only SRS, but also any other with decentralized control, designed monitor control environmental parameters.