Methods of estimation of distances and quality of radiolines between members of multirobot systems

With the development of robotics it became apparent that for a number of tasks (environmental monitoring, patrolling, correction of war systems, etc.), it is simple to use of relatively simple robots. Creating a complex system consisting of many identical devices increases its reliability, since the failure of one of the elements of a distributed network does not affect its survivability. Such systems are flexible and easily scalable, since they have the ability to reconfigure and add new devices. In science, a new scientific trend was formed - group robotics. This direction has specific problems: swarm intelligence, collective behavior of the decentralized self-organizing system, etc. To coordinate the actions of a group of robots redistributing roles between them, creating alternative routes for the transfer of information in the event of the removal or loss of communication with one of the nodes, it is necessary to constantly monitor the distances to neighboring nodes relative to each of the robots entering the swarm. The article provides methods for estimating the distances and quality of radio links, which can be useful for creating predictive models and monitoring the state of a swarm of robots united by a radio network.