TY JOUR TI ORGANIZATION OF INFORMATION EXCHANGE IN DECENTRALIZED SWARM CONTROL SYSTEMS OF MULTI-ROBOTIC COMPLEXES USING ZIGBEE KW multi-robotic complex KW decentralized swarm management system KW zigbee standard KW multi-purpose mode KW privacy KW software encryption KW cryptographic security JO Bulletin of Belgorod State Technological University named after. V. G. Shukhov AU Petruchuk, E.V. AU Ivanov, D.Y. PY 2019 IS 4 PB Belgorod State Technological University named after V.G. Shukhov