This work proposes a method for tuning the algorithm for motion control of group of robots moving on a plane, which, on the one hand, leaves the rules of local interaction at the basis of the algorithm, and on the other hand, optimizes the motion of robots with respect to criteria (estimates) evaluating the behavior of the swarm as a whole.

swarm robotics, differential drive, motion simulation, behavioral control, decentralized algorithms, artificial forces

Theoretical and applied problems of mechanics

Senotov Valery Dmitrievich,  ,  orcid.org/0000-0002-5555-1825,  Ivannikov Institute for System Programming

Aliseychik Anton Pavlovich,  ,  orcid.org/0000-0002-1756-5396,  KIAM RAS

Pavlovsky Evgeny Vladimirovich,  ,  orcid.org/0000-0002-6286-3202,  KIAM RAS

Podoprosvetov Aleksei Valerievich,  ,  orcid.org/0000-0002-3608-7895,  KIAM RAS

Orlov Igor Aleksandrovich,  ,  orcid.org/0000-0002-5634-9426,  KIAM RAS