Robotics and Autonomous Systems ( ) – Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: www.elsevier.com/locate/robot Data transferring model determination in robotic group O.Yu. Sergiyenko a , M.V. Ivanov b,* , V.V. Tyrsa c , V.M. Kartashov d , M. Rivas-López a , D. Hernández-Balbuena e , W. Flores-Fuentes e , J.C. Rodríguez-Quiñonez e , J.I. Nieto-Hipólito f , W. Hernandez g , A. Tchernykh h a Optoelectronics and Automated Measurement Laboratory, Engineering Institute of the Autonomous University of Baja California (UABC), Mexicali, B.C., Mexico b Kharkiv National Aerospace University, Kharkiv, Ukraine c Kharkiv National Technical University of Agriculture, Kharkiv, Ukraine d Kharkiv National University of Radio Electronics, Kharkiv, Ukraine e Engineering Faculty of the Autonomous University of Baja California (UABC), Mexicali, B.C., Mexico f Engineering Faculty of the Autonomous University of Baja California (UABC), Ensenada, B.C., Mexico g Universidad Tecnica Particular de Loja, Ecuador h CICESE Research Center, Ensenada, Mexico highlights • This idea of data transferring model in the group of robots is proposed. • Justified technical vision system choice. • Described technical vision system method of obstacle detecting. • The mechanism of leader changing method based on fuzzy logic was used. article info Article history: Received 20 December 2015 Received in revised form 5 April 2016 Accepted 22 April 2016 Available online xxxx Keywords: Robotic group Path finding Vision system 3D laser scanner Leadership Data transfer abstract This paper describes the basic idea of data transferring in the group of robots while they move in an area with a high density of obstacles with the goal of increasing their movement speed by creating and synchronizing an area map that is made by each robot separately. This paper provides a brief review of existing robotic swarm projects and definition of the problems in robot teamwork, shows pathfinding methods and their analysis, justifies our technical vision system choice and describes its method of obstacle detecting that is based on dynamic triangulation. According to some behavioristic models, using fuzzy logic, the method of leader changing was used. This knowledge helps with the choice of appropriate models of data transferring, makes their simulation and creates a proper network between the robots to avoid data loss. © 2016 Elsevier B.V. All rights reserved. 1. Introduction The progress in different classes of mobile robot design and manufacturing and the results of their successful use in various * Corresponding author. Tel.: +38 050 303 8918. E-mail addresses: srgnk@uabc.edu.mx, srgnk@mail.ru (O.Yu. Sergiyenko), ivanovmikhail-89@yandex.ru (M.V. Ivanov), vera-tyrsa@mail.ru (V.V. Tyrsa), volodymyr.kartashov@nure.ua (V.M. Kartashov), mrivas@uabc.edu.mx (M. Rivas-López), daniel.dhernan@gmail.com (D. Hernández-Balbuena), flores.wendy@uabc.edu.mx (W. Flores-Fuentes), julio.rodriguez81@uabc.edu.mx (J.C. Rodríguez-Quiñonez), jnieto@uabc.edu.mx (J.I. Nieto-Hipólito), whernandez@utpl.edu.ec (W. Hernandez), chernykh@cicese.mx (A. Tchernykh). fields brings the problem of effective management of robotic group (RG) movement in the collective operations that cannot be performed effectively by individual robots. These can include such operations as taking water samples in the waters of major ports, search and detection of any objects on land and sea areas, operation in specified areas with toxic chemicals, and others. One of such problems is the robots group movement controlling in the conditions of strong destruction (obstruction) after the earthquakes. Such hazardous terrain can cause a signal loss during the robots communication, no matter which type of network for data transferring is used (Wi-Fi, 3g, EDGE, etc.). For analysis of data exchange network structures and justifi- cation of their choice we did introducing a series of laboratory http://dx.doi.org/10.1016/j.robot.2016.04.003 0921-8890/© 2016 Elsevier B.V. All rights reserved.