| Abstract: |  The thesis deals with multirobotic cooperative inspection task. The solution of the inspection task is obtained via decomposition into independent subproblems -- the Art Gallery Problem and the multiple Traveling Salesmen Problem. The path between each pair of measurement places is planned by a harmonic potential field. The important advantage of planning using harmonic potential beyond obstacle avoidance is described. This advantage is a possibility to generalise goal from single point to an arbitrary polygon and ease of planning in multiple goal environment. Described methods are verified in a set of experiments. The sum of route lengths of the solution of inspection task planned by the harmonic potential field is slightly greater than in the identic solution planned by the visibility graph while realisation time of solution is by units of percent lower in case of planning in the harmonic potential field. Generalised goals are used in experiment on finding the inspection task solution based on artifitial neural network.
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