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• THE METHOD OF ESTIMATION POSITIONS OF THE UAVS BY MEASURING THE DISTANCES BETWEEN ELEMENTS OF THE GROUP

  V.A. Kostjukov, M.Y. Medvedev, V.K. Pshikhopov, E.Y. Kosenko

  2021-04-04

  Abstract ▼

  Currently, the active use of groups of robots has begun to solve a number of tasks for civil
  and military purposes. In this regard, problems arise associated with group management, the organization
  of reliable communication channels and ensuring the effective functioning of the group
  with limited energy resources. When solving the problem of optimizing energy consumption, the
  problem of increasing the efficiency of interaction of the elements of the group with stationary
  charging stations arises. This problem can only be solved by considering an integrated system,
  which includes robots and charging stations. Centralized management of such a system is justified
  in the case of a small number of its elements. However, with an increase in the number of elements
  in a group, the complexity of management increases, so a combination of centralized and decentralized
  management methods becomes a higher priority solution. The complex of problems of
  decentralized management of such a group includes the task of organizing the optimal interaction
  of its elements in order to achieve the goal of its functioning. When organizing energy exchange
  between robots and charging stations, solving this problem plays a key role in optimizing energy
  consumption. In this article, the concept of the interaction of mobile and stationary objects is developed,
  which implies the possibility of each agent choosing an appropriate companion for interaction.
  This choice is made taking into account the current state of the system and the assessment
  of the history of interaction results. The developed concept is detailed for a system that includes
  UAVs and their recharging stations. An algorithm is proposed for the decentralized selection of
  pairs of interacting elements "UAV - charging station" based on two indicators - the energy efficiency
  of the charging process, and the time spent by the UAV to reach the target point. Both indicators
  are taken into account when choosing the weights assigned to each charging station as its
  degrees of efficiency. Also, these indicators are included in the optimized quality criterion. An
  optimization procedure has been developed, the result of which is the number of the charging station
  that is most suitable for a given mobile object for interaction.

• COMPARATIVE ANALYSIS OF CENTRALIZED AND DECENTRALIZED ALGORITHMS FOR THE MOVEMENT OF MULTICOPTER-TYPE UAVS

  М.Y. Medvedev, V.K. Pshikhopov

  2022-04-21

  Abstract ▼

  The development of robotics makes their group application relevant for solving various
  tasks. The effectiveness of performing the tasks of detecting and determining the coordinates of
  objects by a group of robots significantly depends on the accuracy of maintaining a given formation.
  In this regard, the task of determining motion planning algorithms that ensure the greatest
  accuracy of maintaining a given formation is of practical interest. This article is devoted to the
  study of the accuracy of maintaining the formation of a multicopter-type UAV group using a centralized
  motion planning algorithm and a decentralized algorithm. The centralized algorithm uses
  a master UAV, which transmits its coordinates to the slave UAVs. Based on the coordinates obtained
  and the given framework of the formation, the guided UAVs plan their movement. In a decentralized
  system, neighboring UAV groups transmit their coordinates to each other, on the basis
  of which the movement of a separate UAV is planned. The accuracy of the control system is investigated
  depending on the errors of the navigation system and the frequency of updating data on the
  position of the leading or neighboring UAVs. It is assumed that the group's UAVs determine their coordinates in discrete moments of time using an external navigation system. Centralized and
  decentralized algorithms are worked out by the same motion control system. The algorithms are
  investigated in this article by numerical modeling methods. In the process of simulation, models of
  kinematics, dynamics and actuators are taken into account, as well as models for the formation of
  errors in the navigation system. It is shown that the de-centralized algorithm of group motion
  planning provides higher accuracy compared to the centralized algorithm. However, the technical
  implementation of a decentralized algorithm is more complicated from the point of view of organizing
  a group communication system. In a centralized system, data transmission from the master
  UAV to the slave should be implemented. In a decentralized system, it is required to implement
  network communication.

• THE FORMALIZED APPROACH TO SYNTHESIS OF ARCHITECTURE IN THE SYSTEM OF ADAPTIVE GROUP CONTROL OF ROBOTIC COMPLEXES IN THE CONDITIONS OF THE NONDETERMINISTIC DYNAMIC ENVIRONMENT

  V.V. Sviridov

  2022-05-26

  Abstract ▼

  The rapid development of "multi-agent systems" as an independent and multifaceted section
  of artificial intelligence attracts many researchers in various fields of activity. The pace of progress
  in the development of information technologies, distributed information systems, and computer
  technology determines the possibilities of using robotics technologies in the Armed Forces of
  the Russian Federation. The factors presented in the article authorize the need to introduce new
  intelligent technologies into the troops - autonomous robotic complexes (systems). The development
  of artificial intelligence methods makes it possible to take a new step towards changing the
  style of interaction of complexes with each other as part of a robotic system. The idea of creating
  so-called "autonomous complexes" arose, which gave rise to a new style of adaptive group management.
  Instead of interaction initiated by the user-operator through commands and direct manipulations,
  complexes are independently involved in the joint process of solving a common problem
  in a non-deterministic dynamic environment. The article proposes a formalized approach to
  the design of architectures for group interaction of autonomous robotic complexes in a system
  based on the law of open control, i.e. induced and reliable preferences of each complex for action,
  satisfying the conditions of perfect coordination of their activities, by identifying parameters at
  which the objective function is maximized in various modes of functioning of the robotic system. A
  formalized formulation of the problem of synthesis of the adaptive group control system of autonomous
  robotic complexes under conditions of a priori uncertainty is presented. The architecture of
  group interaction of complexes is adaptively built based on the conditions of the external environment
  and the internal state of the system, in which each complex of the group functions to achieve
  a common goal (solving a system problem) at the time under consideration.