Event-oriented model of data flow control between embedded devices of a ground-based robotic vehicle

This paper discusses methods for extracting significant events from data streams generated by actuating and sen-sory devices built into robotic means. An event-oriented model for managing data streams between embedded devices of a ground-based robotic vehicle using a knowledge base that stores information about embedded de-vices and their configurations has been developed. To isolate significant events from the streams of data generat-ed by devices, the restrictions described in the device configurations are used. The proposed model also takes into account possible device failures. The generated events initiate the selection and launch of a certain process by a robotic means, for the description of which BPMN notation is used. The results of simulation modeling are shown, which confirm the effectiveness of the proposed event-oriented model, which provides a 41.8% reduction in data volumes processed by the central computer due to the distribution of calculations to the intermediate microcontrol-lers of embedded devices.