Digital watermarks with adaptive width of the informative ring in task of control signal hidden transmission at multi–agent robotics system

In the paper the relevant scientific problem of development of new methods of data transmission in mobile robotic groups is considered. The originality is defined by rapid body height of distribution of group robotics in the solution of a wide range of tasks and at the same time lack of a methodological support for formation of the safe environment of data exchange between agents in such groups. The authors offer original approach and pilot signals transformation method with function of concealment of the fact of data transmission between agents of a diverse system. The technology of digital watermarks embedding into a video stream, which is transferred in interaction of agents, is applied. The results of computing and program experiments which show effectiveness of application of the offered methodical approach regarding counteraction to the attacks, distortions and other impacts on the transmitted data caused by the difficult conditions of an actuation medium are given in work. The results show applicability of the offered approach and the method in the solution of the put-forward scientific problem on creation of effective providing in the field of control of heterogeneous robots and robotic complexes and achievement of necessary reliability level and safety.