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• ## Solution of the problem of forming a distribution system under conditions of uncertainty

The distribution center is one of the main elements of the distribution system, which forms the structure of the movement of resources. It is responsible for ensuring the efficient allocation of the flow of resources. The effective location of the distribution center allows you to reduce the cost of allocating resources to 30%. The method of solving the problem of effectively securing demand zones for a particular distribution center is proposed in this article. The uncertainty of the initial parameters is taken into account when solving this problem. The result of solving the problem of determining the effective location of distribution centers is a set of fuzzy intervals. These intervals determine the coordinates of the location depending on the parameters of the task, namely, the demand of consumers, the capacity of distribution centers, the distance between the resource consumers and the center. The location of the distribution center will be determined not by a specific numerical value, but by a fuzzy interval that will determine the region of the best location. A software application is developed that allows you to specify parameters in a fuzzy interval form, on the basis of which the results of solving the problem are formed. The cost of delivering resources to consumers changes significantly with the change in the number and location of distribution centers, so the issue of rational distribution and the number of centers is important. This task becomes especially relevant when a new distribution system is being designed, or the existing system is being modernized.

Keywords: distribution centers, the demand, the uncertainty of the initial parameters of the fuzzy intervals, potential interactions, grouping

• ## Development of the method of planning the path of the mobile autonomous robot in a three dimensional environment based on fuzzy logic

The purpose and objectives of this work is to develop methods of planning the path of the mobile autonomous robots operating in environments with unknown location of obstacles. The result of the article is vague planner travel path of autonomous mobile robots for three-dimensional space (3D environments). The results differ from known analogues structure proposed planner, consisting of two interconnected parts, designed for use in horizontal and vertical planes, context-sensitive coordination method "simple" behavior of the mobile robot, a set of rules governing the method of prevention "jam" in the obstacles.

Keywords: Quad copter, management, uncertainty, decision making, fuzzy logic