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The task of control for group of special robots for use in high-risk environments (for example, for extinguishing fires, searching for dangerous substances, or eliminating the consequences of accidents) has been solved. Under the terms of the task, robots operate in an industrial-urban environment, that is, the movement of robots is flat. There were analyzed various strategies of group interaction between robots and literature reviewed. Based on the specifics of the task, a decentralized control strategy was chosen. To solve this problem, an algorithm was proposed for the movement of a group of mobile robots with a subsequent visual check of the operation of the obtained algorithm. The developed algorithm includes the following components: constructing the working environment graph of the robot; determining the shortest distances between the base point of each robot and each target point; distributing targets between robots; checking the absence or preventing collisions between robots; building a global trajectory. The implementation of the algorithm works in the MATLAB environment. Group models are developed in the Simscape Multibody package, which allows you to perform physical modeling of both each robot and the group. To make realistic contact between the surface and the wheels of a mobile robot, the use of the Contact Forces Library add-on is required, which considers all the friction and slip forces. This software package can be used to pre-test the work of a group of robots in the context of the task. As a result of the test, the program and model successfully solve the problem, but the simulation time is high due to the large computational complexity of the model and the novelty of the Contact Forces Library package, which will be updated in future versions of the package.

The detonation velocity was measured by the method of contact sensors [5] by using ChZ34 frequency meters successively at three bases in each charge. To raise the reliability of the mean values of D for each mixture and HE with definite thickness H the measurements were performed on five charges. The HE were shaped by using wood casings on a rigid foundation (steel plates 5 mm thick). The contact sensors [5] fabricated from two twisted copper wires of 0.22 mm diameter (one without insulation, while the other had a lacquer coating) were glued to the plate under the HE charge through a thin insulating interlayer. Compact twisting of the wires assured the needed sensor sensitivity to the action of the shockwave in the HE. Measurement error did not exceed 2%. In certain cases when D = 1500-2200 m/sec was expected, a rheostat method was used in parallel with the method described [12]. Moreover, contact sensors from 0.04 mm thick copper foil were used for D ~ 1500 m/sec (two narrow 2  i0 mm strips separated by a gap of 0.2-0.3 mm). The foil sensors were placed alongside the wire. The values of D obtained by all three methods for identical charges differed by not more than 3%. Therefore, the selection of the methodology based on using contact sensors in the form of twisted wires is fully justified. The component content for all the mixtures in Figs. 2-4 is given in a volume relationship for a bulk density while the percentage content n of trotyl (Fig. i) is given with respect to mass. Results of measuring D for the mixture of 6GV with AN/GV are represented in Fig. i as a function of n. Experiments showed that AN/GV is capable of detonation in pure form for H = 20 mm even upon initiation by a standard electrical detonator without an intermediate warhead. The introduction of a definite quantity of 6GV into AT-1 can broaden the range of values of D substantially. The magnitudes of D for mixtures of AT-I with 6GV in the experiments agreed to 10% accuracy with the results of measuring the detonation velocity of the mixture of 6GV with AN/GV for an identical content of trotyl therein. Hence, the deduction can be made that the magnitude of D for trotyl-containin g mixtures based on ammonium nitrate is a function of just the percentage of trotyl content.