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• DEVELOPMENT OF A HYBRID METHOD FOR PLANNING THE MOVEMENT OF A GROUP OF MARINE ROBOTIC COMPLEXES IN AN A PRIORI UNKNOWN ENVIRONMENT WITH OBSTACLES

  А.М. Maevsky, R.O. Morozov, А. Е. Gorely, V.A. Ryzhov

  2021-04-04

  Abstract ▼

  The article discusses the problem of organizing the group movement of marine robotics
  (MRS), in particular, unmanned autonomous underwater vehicles (AUV), in an a priori unknown
  environment with obstacles. A brief analysis of existing projects on the subject of MRS group control,
  and path-planning algorithms have been carried out. The presence of numerous studies in
  this area confirms the relevance of the indicated problem. The formal statement of the problem of
  the movement of four robots in formation is presented. The proposed method for a group path
  planning is based on a combined approach that organizes a multi-level solution to organizing the
  movement of MRS. At the upper level, a system for global path planning and mission control was
  developed based on the random tree method, which provides the general movement of the group
  based on a priori information about the state of the environment. The lower-level planning system
  adjusts the global path, allowing objects at the local level to carry out the group agents’ movement
  and interaction, including ensuring their collision-free movement in environment and exit from the
  areas of local minima. The article provides a detailed analytical description of the developed algorithm
  and a block diagram of its functioning. Numerical simulation of the movement of a group
  of 4 AUVs in a non-deterministic environment with fixed obstacles is carried out. The simulation
  was carried out taking into account obstacles of various shapes and complexity. The results of
  mathematical modeling demonstrated the solution to the problem of the exit of the AUV group
  from the area of the local minimum. Full-scale tests are presented on the example of a group of
  three unmanned boats: a group of mobile objects formed a formation and carried out a movement
  in a given formation to target positions and returned to the final zone. In addition, the local planning
  module developed within the framework of this article was integrated into the software of the
  "Shadow" underwater glider control system. In the conclusion, the results of the proposed method
  and its further development, in particular, its application in 3D environment, are considered.

• 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.

• METHODOLOGY AND RELIABILITY MODELING OF THE GROUP CONTROL SYSTEM FOR ROBOTIC PLATFORMS

  A. S. Boldyrev, A. L. Verevkin, K. V. Pshikhopova , L. S. Verevkina

  2020-10-11

  Abstract ▼

  One of the most relevant areas of robotics development is the design of group cont rol
  systems. In the proposed structure, a group of five robotic platforms (RP) is controlled from a
  wearable or stationary remote control. This composition of the group determines schemeswith tunable connections between the components and changes in the principles of operation.
  The article presents experimental studies of the computational efficiency of methods for planning
  RP trajectories in space and defines the optimal method and the required parameters of
  the RP computer. Variants of schemes with different numbers of RP are considered, as well
  as models of cold backup of RP, remote controls, and the entire system. With such a variety
  of configurations, problems arise in justifying and selecting calculation methods, and in
  providing an unambiguous, generalized representation of the reliability parameters of a
  group control system. Increased requirements for the reliability of components of the group
  management system require an accurate assessment of reliability and are dictated by the
  significant cost of equipment and functional purpose. The developed method is intended for
  modeling the reliability of the developed system of group control of robotic platforms RP.
  The proposed method shows the use of structural, probabilistic and matrix methods for ca lculating
  reliability models of a group control system. An approach to modeling the reliabi lity
  of integer, redundant, sliding, and cold redundancy of RP and control panels is also pr oposed.
  The results of numerical calculations of the reliability parameters of the group management
  system allow us to assess the risks and choose modes, depending on the required
  efficiency of the mission.

• GROUP VIDEO NAVIGATION OF HETEROGENEOUS ROBOTS

  V.P. Noskov , О.P. Goydin , А.N. Kuryanov

  2026-04-29

  Abstract ▼

  This paper addresses the pressing challenges of collaborative autonomous video navigation of unmanned aerial vehicles and ground robots in urban environments, including dense urban development and buildings, as well as in rugged terrain, including mountainous and wooded areas, where, as in urban environments, the use of traditional remote control and navigation tools may be limited by the presence of shielded areas. It is proposed to solve group navigation problems using data from an onboard vision system during operational reconnaissance of the work area by an unmanned aerial vehicle. The results ensure autonomous movement and flight of both individual heterogeneous robotic systems and in a group. The navigation algorithms are based on the methods and algorithms for processing data from the onboard vision system, consisting of a complex of mutually adjusted lidar, television camera and thermal imager, which form the geometry of the surrounding space in the form of a point cloud with the distribution of color and temperature fields on it, allowing for the effective solution of the SLAM problem (determination of the current coordinates of the control object with the formation of a geometric model of the external environment) and the classification of the working area according to the criteria of geometric and support cross-country ability, which ensures autonomous flight and movement of robots for air and ground use in urbanized environments and on rough terrain. It is proposed to use an information and navigation field, represented as a visibility graph, to organize the autonomous operation of aerial and ground robots, including in a group, and a set of reference images, allowing for the correct execution of planned trajectories, taking into account errors in the video navigation task. This information and navigation field allows for the compact presentation of information necessary and sufficient for the autonomous operation of unmanned aerial vehicles and ground robots and facilitates its exchange between group members. The results of experimental studies in real-world conditions of urbanized environments and rugged terrain are presented, confirming the effectiveness of the proposed methods, algorithms, and corresponding software and hardware