Method of dynamic distribution of access rights in an autonomous group of robotic systems based on genetic algorithms

A method for delimiting access rights in a group of heterogeneous robotic systems is proposed based on the concept of a virtual squad, considering their information interaction, based on a genetic algorithm. The essence of the method is that when using a role model for delimiting the rights of access of a subject to an object — the goal of a work task, the model of delimiting access rights is updated to exclude a collision. To change the parameters of the model, the roles are presented as a set of binary data that form a chromosome of the initial population, which changes based on a genetic algorithm when the current situation changes during the work task. Modeling is carried out and the results of numerical studies are presented in comparison with the solution of the problem by the Hungarian algorithm.