Data transfer in a decentralized network of robots using a local voting protocol

The construction of an effective intelligent information transmission system in a group of cyber-physical systems is one of the important problems in both practical and theoretical contexts. Such a system for transmitting information for a group is being built for a network consisting of separate robotic complexes. Increasingly, decentralized solutions are used to build effective interaction between group members. As a rule, in networks, decentralization is present in computing software modules, and the data transmission system between nodes is centralized. One of the aspects of such centralization is the need to send data to a specific destination directly or by relaying through other nodes - routing data in the network. In this work, a method of data transmission in a decentralized network between robotic complexes without reference to routing is proposed. The method consists of the exchange of data on the state of the entire network as a whole between the nodes.