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• SURVIVABILITY OF ONBOARD COMPUTERS OF GROUND ROBOTS

  N.А. Bocharov, I.N. Bychkov, P.V. Korenev, N.B. Paramonov

  2024-04-16

  Abstract ▼

  Research in the field of creating specialized computing systems for robots is conducted in
  many world scientific centers, including our country. The development of capabilities of sensor systems,
  global navigation systems, growth of computing power and improvement of algorithms allow
  creating onboard computing systems with broad intellectual capabilities. An important, but unsolved
  problem remains in the equipping of such computing systems with domestically produced microprocessors.
  An urgent direction in the development of prospective robot control systems is the development
  of high-performance on-board computers with the property of survivability. A significant but
  unresolved issue remains in the equipping of such computers with computer equipment of domestic
  development. The appearance of modern domestic microprocessors Elbrus-2S3 and Elbrus-8SV
  opens up new opportunities for robot developers. The emergence of hardware technologies such as a
  watchdog timer and a time-binding module makes it possible to create robots with high survivability
  in combat conditions. For special purpose robots, it is possible to divide the period of normal operation
  of the robot into modes by analogy with the degrees of combat readiness of the armed forces, for
  each of which the robot will operate in a special mode. The modes are characterized according to the
  prevailing situation and the corresponding failure rate. The paper presents a threat model for the
  harshest of the operating modes. This paper presents a method for ensuring the survivability of onboard
  robot computers by using adaptive redundancy to ensure the survivability of on-board computers.
  The method consists in switching between redundancy schemes to ensure high performance
  while maintaining sufficient reliability, depending on the current level of failure flow. Using the model
  developed by the authors, an experimental study was conducted to evaluate the effectiveness of the
  developed method when working with a domestic onboard computer based on the Elbrus microprocessor.
  Using the developed method made it possible to increase the average functionality of the
  robot by 23-43% compared to the mode with constant redundancy.

• INTELLIGENT STRATEGY PLANNING AND CONTROL OF A GROUP OF MOBILE ROBOTS UNDER CONDITIONS OF INCOMPLETE INFORMATION

  I.V. Bychkov, А.V. Davydov, М.Y. Kenzin, N.V. Nagul, А.А. Tolstikhin

  2023-04-10

  Abstract ▼

  Different problems of strategy planning and control of a mobile robot group under complex dynamic
  conditions with incomplete information about the external environment are considered. Approaches
  to solving problems of effective work scheduling under conditions of inconstant active group
  composition, searching for the source of a nonstationary concentration field, supervisory control of
  discrete-event systems are presented. An original mathematical model formulated in terms of work-shift
  scheduling problems and a problem-oriented modification of evolutionary algorithms with a specialized
  set of heuristics for its efficient solution are developed for the problem of scheduling top-level group
  work. Searching and monitoring the source of the nonstationary concentration field is carried out using
  a decentralized multi-agent control strategy that combines elements of bionic and gradient approaches,
  as well as a method for generating artificial potential fields. The considered control strategy has low
  computational complexity, high variability with respect to the types of fields surveyed, and is easily scalable
  to control any available number of mobile robots. The latter is of special importance, in particular
  when considering the problem of parallel and independent monitoring of multiple sources. It is proposed
  to use the means of logical inference, namely automatic theorem proving in the calculus of positively
  constructed formulas, to solve various problems of the supervised control theory of discrete-event
  systems used at different levels of the robotic complex hierarchical control system. Features of the calculus
  allows solving complex problems of dynamic systems control, as well as processing and controlling
  events based on environmental data in real time in the process of logical inference efficiently. The
  approach based on positively constructed formulas allows studying the properties of automata-based
  discrete-event systems, as well as to synthesize and model finite automata for the construction and realization
  of monolithic and modular supervisors. A general scheme combining the considered approaches
  for controlling a group of mobile robots at different levels and time scales within a single hierarchical
  control system is proposed.