Today, climate change, the limited availability of natural resources, coupled with an increase in total consumption, constantly increase the requirements for agricultural facilities. One of the urgent tasks in the field of robotic agricultural automation systems is the task of developing methods and approaches to precise irrigation and fertilization, characterized by a high level of autonomy, a wide working area and the ability to perform tasks in a continuous mode. Thus, within this study, a method of precise fertilizer application was proposed, based on the use of a group of heterogeneous robotic means. The heterogeneous composition of the system provides the possibility of replacing batteries and replenishing the solution tanks of the robotic means, which carry out the application of fertilizers in the areas of operations through the use of specialized ground robots. Approbation of the proposed method was carried out in the Gazebo virtual environment on the example of a garden of columnar apple trees with an area of several hectares, which includes more than 8000 trees. The final consolidated assessment of the proposed solution, averaged over all selected groups of tasks, was 74.6 %. The average proportion of trees missed in the experiment was: 7.8 %. According to the results of the experiment, the proposed solution allows not only to successfully carry out the tasks of fertilizing large agricultural facilities in a continuous mode of operation, but also to carry out autonomous identification of potential zones where fertilization is required.

The article discusses the issues of decentralization and dynamic redistribution of roles in cyber-physical systems (CPS) designed for working in changing environments and especially open spaces, where there are increased risks of module failures and communication loss. In particular, decentralized methods for controlling the CPS behavior and ensuring the redundancy of their components and connections are investigated. A number of requirements for such systems are identified and it is noted what limitations in existing approaches impede the implementation of systems that satisfy these requirements at the physical, network and application layers. For different layers, behavior models are proposed, which provide autonomous role distribution between components. This made it possible to synthesize a structural-parametric model of an autonomous mobile CPS, focused on functioning in open areas and solving applied problems performed through the coordinated interaction of groups of mobile agents. The model takes into account aspects of system stability and its response to destructive influences. The advantages of the proposed models include task decentralization, absence of central, critical nodes and bottlenecks, no line of sight requirements or small distance between devices, ability to work in unexplored environments. The solutions can be applied primarily in the field of business and are suitable for use in industrial plants equipped with mobile robotic devices with cameras, for example, for agricultural tasks, or territorial exploration. The proposed approach makes possible to study the terrain more accurately, including unexplored areas with limited accessibility to humans. Also, the results obtained can be applied during rescue operations.