The Swarm Hierarchical Control System.

A hierarchical multi-controller system designed to manage the swarm of unmanned vehicles, moving on the terrestrial surface, is investigated. The flowchart of the hierarchical control system is worked out, in which the system distributed controller is performed at the strategic (the organizing controller) and functional-logical (vehicle onboard controllers) levels. It is shown, that mathematical model of the onboard controller consists of two parts: part, describing the actual semantics of embedded control algorithm, and part, describing interpretation of control algorithm by Von Neumann type controller, unfolding in real physical time. The formula for time delay estimation, when embedded algorithm is the linear-cyclic one, is obtained. A time of delay is included into the matrix equation describing the semantics of data processing, which together with the description of the vehicle with caterpillar propellers movement on terrestrial vehicle forms a complete model of the swarm unit. Description of the organizing controller operation is obtained when realization steps of algorithm if accessing the milestone, including formulae for time estimation of accessing the milestone by the only unit and by the whole swarm, as far as formula for evaluation of time which only unit spend waiting the whole swarm. Theoretical results are confirmed by the five-units-swarm operation modeling.