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1. . ., 0 . ., ! = . . < # # & C &* C C# "$. .: %- #8. . . • 8 , 1998.

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1.+/ U. . ## & C C & = # $ $#- / C #% &* / $& " " # // . "?. 1932. . 39. | 12.

2.+$% . . ? " / # " # = # & C C# " C #%- &* / $& " " # // % . EEE . . 1980. | 4.

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1. X$ X. . # # # 8 ?#&* C ? " & " 8# #$ «omnidirectional» (" 8 $" &*%> # & ") // %#"> & '" ""#/" / ! ## " 8 >8 " # 8. .: , 2012.

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% "#" 8 8 D# C % # $, $% & @= $& * #% ? # # $# * # 8 8 # " #/ %, " C % 8 >$& " $C 88 # # .

& ? ? # #% ? # " % $C 88 , / $&- 8 #% ? ## $ #%8 " C ## " C ( #".1). F 8 #"$&*% " $C >/ !#&* , $#" >/ [1], " $8 =*@ - C #% ? # $? % " -? & " / >8 $C 8 !#&* ##. E& @=#8 A$8 ? > !#&* & " > & # -#% ? # ( #". 2).

% ? "#" 8 $& # $8, / $ - @ " % &* > % C #% ? # [2]. ' " " "#" 8>$& # &C # 8> " ?#% ##, %& # $" #, 8 #- # $ C& 8 >" # , C # , $% & $& # * $&- " *@ 8 >/ $& #""& 8 C $$.

" % &* #""& #/ 8 C ?> * % > % > $C 88 > # # $.

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1.. . < # $C 88# # "#" 8 MAPLE. .: %- &*" #/ 8 , 2011.

2.Gonzales R.C., Wintz P.A. DigitalImage Processing. .: LongmanHigherEducation, 2001.

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""8 # " % $" # > 8 " " # && # 8 - ? 8 " & % # / " 8 $C "& # , - C # # $" & @ " / # ! 8 ## 8 "$&- ## C# ? , "$ $& >/ & " %#. < # / $" % # % # $?& 8 % #8 > " & #/ - ? $"" # # . & D # A / $?& 8> $& C " &- C # 8 $& # # # # " #, # > @=#/ $& " *, "#8 @ D 8 8 $% # # , " *@ 8 " > - ? , C # # 8# $# ? , #"$&*% @=#/ "$ - & >/ $, #? & $& " " @=#/ $# #$8 $"- # " / ? . &C # 8 " # " " " > !#&* ,$% & " * $#"& > $& " #.

& " # $#" # &C # 8 # A "$#8 " #"$&*%- # 8 ? DSR [3] # # C $C . ? > " = > " 8*@ &* 8 8# #$% , > 8 C # * # $ - $" #/, C# ? , 8 C , ? > " = > $# 8$ - # 8# CC2500 !# 8> Texas Instruments, $% & @=#8# ?8 #- *" " ?= # 8# 8 ? 8# " , # ? % " . • %- " >/ "$& >/ $ %8 " * $#8 * &C # 8> " C % #8 /" # , #"$&*% 8> " 8 > $# # C > (P2P) " [4].

0 +

1.Stephen T., Chaohui G. Multi-Agent Deterministic Graph Mapping via Robot Rendezvous // IEEE International Conference on Robotics and Automation, 2012.

2.Maja M., Andrew H. Team Localization: A Maximum Likelihood Approach // IEEE Transactions on Robotics and Automation, 2002.

3.! . ., . . # 8 ?#&* C ? — A&- 8 $C 88- $$C 8$& " & #""& # &C # 8 C$$ - C $& # // U & « # A& # #». 2011. |5.

4.Rahman M.A. A P2P Sensor Framework for Collaborative Robots Manipulation

//International Conference on Systems. 2007.

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PYTHON

? $" = % ? # #""& #@ 8$*@ / 8 8 ?#&* C ? , % / " Python. ""8 # " ? / " ##, # [1]; " " # #% $" , = C & " ,$& @= C #" # &* > & ".

< " &* # & " $#" # ? % $" &*%> # , ? $" & " ? / 8 # " @ "#" 8 , " " @ 8 C & 8- >8# " % 8# [2] ( > @ " % "* $& # &* > " %#, & C 8> #" @ C & 8 @ "#" 8 ). < A 8 $# > #/ # 8# # ?>& ? "$&*% *" # 8# C " $& >8# 8 # & 8#.

8$*@ 8 &* 8 ?#&* C ? % ? " Python " #"$&*% # 8 C !# " / ?#? # OpenGL [3]. Python — A >- " >/ %> $C 88# # ?= C % # " 8 $#% # &* " * % ? # # # ? &* " * , $# @=#/ " &* $#C8 $C 88# # ( 8 #"& " , ?\--# # , ! # &* , #8$# # "$ - # # ). OpenGL ( > C !# " ?#? ) — A $C 88 >/ # ! /" C !# " / $$ 8$*@ , " "- =#/ $#?%# &* #% 250 &* > 8 ( & 200 8 " 8 / OpenGL # = 50 ?#? # ), > #"$&*% @ " & %- # ?\ # $#/, $% & @=# " % * # # > $#&- # , ? @=# " 8 / C !# /.

# # 8# # # C # "* #"& " $8 =*@ $C 8- 8>, #"$&*% @= / 8 8 — < # " 5-C $ " # [4].

< > #"& > A "$#8 > $ #% #@ # #- # ? % C >? $& @=# % /" #/, #%8 @=# " $ C 8 # " 8 % .

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1.% .1., ) @. ., " X. . # C , '- , Š$&>C# % # 8# # 8 ?#&* > ? . .: % &*" , 2005.

2.. ., ) @. . C & 8 # 8# 8 ?#&* > ?-# 8 # &* 8 8 # // & > / D &>- ! ## « ?#&* > ? > # 8 > "#" 8>» ( " , 1—3 ? 1998 C.) .: %- " . -, 1999.

3.]& ., & X., b & X. OpenGL Red Book ( "" "# ). .: # E !€<, 2002.

4.U & ?., ., . D # ?> > #!! # &*- > #/. " # % #. .: # , 1990.

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& >$& # $" & > % , $? & "* #% # * $#%- " >/ $"" " &*@ > & # # ? ?= # " %8 > % . ' % &* C ?> % ? > 8 ## $ " = " & #@ $& C $ #"$&*% #@ $8>D& > 8 #$& " - 8 # " &* " # $#8 # ? 8 & C# " C $ - "" . " ? #8 # ?>& & ? " 8 #$& 8- $& " , $" # ?" $# C $& # , #%8 # $ - 8 ? > &* C ? , # "#" 8> & 8. $& #- &* ?> % > % # & & C# " C $"" # " >$" 8 / $##. < & >/ ? ? #/ "#"- 8 # > ? > "$" ?> % ## 8 C ?> * "$D "$"- > # C# $ $# # .

< #8 # " 8 > $8>D& > ? # $#%- # &* " * ? # # >$" $##, & D " $ - ##, % 8 & 8 > # &> ? , $8 C A 8# * 8 # &> # A C#@. 8 C , # ?& @ " / C#? " *@, ?> #"$&*% * # $# >$" $## " #8# # 8- &>8# $# 8#, C # # > " " 8 #% ## $#8 #8>.

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1.b$ .@. 8 #% # & C# " # $"" . .: 8# ,

2005.

2.$ .(. # # ? # . E<?.: %- E<? < , 2003.

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# =#8# "#& 8# & @ " " # > "#&> $C C -$C % % C " , "$" ? C $8 = *" $ $&- @=#8 # >8 "$# &* / ! 8>. • 8 $& @=# ? % " 8?# # / # > , % > / $" # ?>: " & / ## $" / # #% > # $# # " / # /. < # 8 " & # & " # / " C& 8 $\ 8 -.

""8 # " $# #$ # # , 8 8>/ $C#8 " 8 " $& 8 / ! 8 / [2]. $& @=# % /" # " % @ " " $8- =*@ $* % A& # " C @ . #8 #% " > # # >- ? $# & " %8 " * % ## 8 C # # ? ? .

#" # $* %$# $& " $# D ## % # #- # " 8 #%C#? "#88 # / #8 ! / ($* % 8# — 8 &&—$* % 8# ) $& " # > %#" # " / $" .

'? $# " % $& 8 C # # ? "- " ## # $# ## "#& % C # , % #"#8 " # "- D # % #/ $C 8 "" > # C 8 # " # $8 "#"- 8>.

# 8# " # # # # 8 " " " $8 =*@ !- 8 %8 C . & $& # $8 = # #"$&*% " %&- # $ " ?" >8 ! # 8 #%C#? > & ? #/ % % C -$C " . # # # $# " "#" 8 - / > #!! # &* > #/ " $8 >8# A!!# # 8#.

'% &* #"& C D # "#" 8> / > #/$& > 8 > 8# #-? %# " # D#/" #8, " " " * # # ? &* " & / # / # * - 8 " # " " #.

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1.% & . ., -" . ., 1$ 0.1., < ^+ . . # 8#- # @ > ? . .: , 2010.

2.) @. ., * . . # # D # C % # $ C& / # / $8 / # #% > // ' " # . 2003. | 3.

230