Search

Search Results

• CONEPT OF A ROBOT GROUP CALCULATION

  V.Kh. Pshikhopov, A.R. Gaiduk, M.Y. Medvedev, D.N. Gontar, V.V. Solovjev, O.V. Martyanov

  2020-07-10

  Abstract ▼

  The problem of calculation of an autonomous robotic group in order to destroy the detected enemy group is considered. A group of robots must be formed in such a way that the task assigned to it to destroy the enemy group is performed with a high degree of probability. The task is solved as an assignment problem. The initial information for solving this problem are types and numberof objects of the detected enemy group, positions of the enemy objects, information about the war possibilities of the tools available in our group, the type of group being formed (robotic or mixed), the purpose of the operation, the actions of the group at the end of the operation. We propose a solution to the problem based on the evaluation of the effectiveness of individual robotic systems. The solution is formulated as a sequence of the four stages. At the first stage, the calculation of a priori effectiveness of each element of the detected enemy group is performed. At the second stage, based on expert assessments, the choice of efficiency coefficients for each of the available robotic systems against each element of the detected enemy group is made. At the third stage, a priori estimates of the effectiveness of the available robotic systems are corrected, taking into account the coefficients selected at the second stage. At the fourth stage, a group of robotic systems is formed in such a way that its total application efficiency exceeds the total application efficiency of the detected enemy by 2.0–2.5 times. The proposed method of forming a group allows you to cre-ate both quantitative and qualitative composition of the group. The article provides an example of the formation of a group whose goal is to neutralize an exposed enemy.

• A GENETIC ALGORITHM FOR PLANNING THE TRAJECTORY OF A GROUP OF MOBILE ROBOTS IN THE PRESENCE OF STATIONARY AND MOBILE OBSTACLES

  L. А. Rybak, D.I. Malyshev, D. А. Dyakonov, А. А. Mamchenkova

  2025-04-27

  Abstract ▼

  The article discusses a trajectory planning method for a group of mobile robots that ensures safe
  movement and eliminates the possibility of collisions both between the robots themselves and with external
  obstacles, including moving objects. The developed mathematical model considers three main collision
  scenarios: intersection of robot trajectories within the group, interaction with stationary obstacles, and the probability of collision with moving objects. Each of these scenarios is analyzed in detail to ensure
  maximum safety during movement, and their consideration allows for efficient adaptation of robot routes
  to changing environmental conditions. The trajectory of each robot is represented as a piecewise linear
  path with intermediate points, which are optimized to ensure safe movement. Special attention is paid to
  speed adaptation on different segments of the trajectory: a robot can adjust its speed based on current
  conditions to minimize the risk of collisions. To evaluate distances between objects, the Euclidean norm is
  used, allowing for the calculation of minimum distances between the centers of spherical representations
  of robots and obstacles. The problem is solved in two stages. In the first stage, a trajectory is constructed
  for the first robot, taking into account initial conditions and obstacle placement. In the second stage, trajectories
  are formed for the remaining robots, considering the already planned routes. For optimizing the
  coordinates of intermediate points and speeds, a genetic algorithm is applied, which minimizes travel time
  while ensuring safe movement. The genetic algorithm uses crossover and mutation operators to generate
  diverse solutions and performs checks to ensure compliance with safety conditions. Numerical simulations
  were conducted using Python, with the Matplotlib library used for visualization of results. During the
  experiments, 50 tests were performed with varying numbers of obstacles (from 5 to 10). Analysis of the
  results showed that as the number of obstacles increased, both the computation time and the quality of the
  generated trajectories improved. This confirms the effectiveness of the proposed method for controlling
  groups of mobile robots in dynamically changing environments

• SPECIAL MODELS, ALGORITHMS AND SOFTWARE FOR PROACTIVE GROUP BEHAVIOR CONTROL OF ROBOTS

  O.V. Kofnov, S.A. Potriasaev, B.V. Sokolov, P.M. Trefilov

  2021-04-04

  Abstract ▼

  The paper describes the proactive control of robots group behavior using Behavior-Based System
  models, where the intellect is formed by a physical entities behavior. The observed complex is an
  array of distributed agents functioning in real time under disturbances. John Boyd’s OODA loop
  model is used to describe the control system work cycle of such network object. The input data of the
  control task are a planning horizon, a group action scenario, an array of agents and their possible
  elementary operations, a set of scenarios using restrictions and a quality indicator of the controlproblem solution. The output data is the distribution plan of agents in space and time to realize the
  scenario under restrictions. The developed technology predicts the environmental disturbances. The
  complex predictive modeling methodology for a self-organized robots group control is used with
  logical-dynamic models. One of the key advantages of developed combined models, methods, algorithms
  and software is the possibility to coordinate analytical and simulation control models of complex
  dynamic objects and their logical-algebraic analogs and models based on intelligent information
  technology. This coordination is on the conceptual, model-algorithmic, information and software
  detailing levels. The special language for modeling, planning, proactive monitoring and control
  task description is also developed. This language can be used for dialog interaction, calculation
  planning and data mining too. The proposed method main advantage is the non-isolated, but integrated
  solving of robotics configuration (reconfiguration) modeling, planning and management with
  the structural dynamics proactive control common problem solution.

• METHOD OF SPATIAL-TEMPORAL DIVERSITY OF TRAJECTORIES OF A GROUP OF ROBOTS IN THE CONTEXT OF OBSTACLES

  V.А. Kostyukov

  92-102

  2025-10-01

  Abstract ▼

  When developing algorithms for planning the paths of robots forming a group, the problem of ensuring that they do not collide with each other and with possible obstacles arises. In addition, the group may be required to maintain a given formation template in those sections of the group's movement where this is possible taking into account obstacles. However, a narrow spatial corridor of permissible movement of the group is often formed, which can be caused by both the initial requirements for the trajectory (for example, the condition of its location in a certain vicinity of a given point), and the presence of obstacles and other interference effects. The presence of such a restrictive corridor can lead to a forced convergence and even intersection of the spatial trajectories of movement of individual robots in the group. One possible solution to this problem is to specify or adjust the time parametric representations of these individual trajectories so that two robots with spatial trajectories approaching each other are at their closest points at different times. Moreover, the time interval separating the moments of these two robots being at these points should be selected depending on the speed of the robots and their dimensions. The developed method of space-time separation of the trajectories of individual robots in a group is based on this idea. The method involves the formation and solution of a special linear programming problem relative to the target moments of time of previously selected nodes of the spatial trajectory of each slave robot. The limiting factor for changing these moments is the maximum possible speed of the robot. For each robot, a preliminary selection of a set of trajectories of other robots in the group is made, from which it is then necessary to detach in space-time. This occurs depending on the priority of the robots in the group. Examples of numerical implementation of the algorithm based on the proposed method are given, confirming its effectiveness

• 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