An essential requirement for achieving a high level of performance, autonomy, and reliability of a multi-robot system performing joint long-term operations in an unstructured environment is an advanced control system. In general, the robot’s control system is designed to be hierarchical and consists of several subsystems. To unify the interaction of individual components and reduce the load on computing and communication devices, we use the event-based methodology at different levels of the control system. In the paper, we demonstrate how this methodology can be applied to solve four challenging problems in robotics: cooperative formation control, path planning, missions scheduling, and action planning.

Abstract. An algorithm is proposed for constructing conditions that ensure the preservation of properties of many-sorted algebraic systems. The functions and relations of such systems are defined on arbitrary steps in the sense of Bourbaki. Preservation conditions are generated as solutions of logic-algebraic equations. The coupling mappings between systems have a nature of morphisms and their canonical expansions to steps. The method is illustrated by the example of analysis of a dynamical property of a discrete-event system.

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