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Simulation of Multi-Agent Architectures for Fruit and Berry Picking Robot in Active-HDL

The paper analyzes approaches to the engineering of multi-agent robotic systems for agricultural production processes, including harvesting. The system is presented in the form of typical state machines for simulating the states of robots with implicitly defined scenarios that allow automatic planning and monitoring of tasks in real time. The structure and the HDL-model of a group control system for autonomous robots and related devices for picking fruits and berries operating as part of a multi-agent group have been formed. In experiments on modeling a group of robots for tasks with implicitly defined scenarios, examples related to the collection of fruits and berries are considered. The simulation results fully confirmed the effectiveness of the proposed algorithms for the automated generation and execution of scenarios.