Inference algorithm for teams of robots using local interaction

One of the possible approaches to the technical implementation of logical inference in robot groups is considered in paper. The problem is that the usual implementations of the inference mechanism, for example, which are used in expert systems, are difficult to implement to robots that work in a team. It is due to the fragmented knowledge of each robot about the environment where they perform the tasks assigned, the need to exchange data during the inference and monitor this process, etc. In addition, the presence of an inference subsystem may be necessary for emergence of emergent properties in a group of robots. The output subsystem can be used to solve a variety of tasks, for example, choosing the most preferred strategy for the whole collective, building a general picture of the world, planning, etc. In this regard, the paper presents some mechanisms that allow the inference in the logic of predicates of the first order for a team of robots whose interaction with each other is exclusively local in nature. The inference procedure is carried out in the team of robots, which form a special structure, called a static swarm.