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• COMMUNICATION AND DATA TRANSFER IN DISTRIBUTED ROBOTICS SYSTEMS

  I.O. Shalnev

  2021-04-04

  Abstract ▼

  The robotic systems building approaches is analyzed in this paper. Robotics systems can be
  considered as a distributed system which interacted between individual components of the robotic
  system and interacted between robotic systems within a single complex. In first case a robotic
  system can be a collection of individual modules within a single robot. For example, individual
  motors, servo drives for camera control, and the camera itself control of the unmanned aerial
  vehicle (UAV) can be considered as separate modules of the entire UAV within a distributed robotic
  system. In second case robotic system devoted to a massive of connected robotic system. Forexample, each UAV is a robotic system which is a part of whole robotic system that define UAV
  group interaction. An approach that allows a unified way to describe such robotic systems hierarchy
  is needed. In the field of robotics systems, there are many approaches to building it, which defines
  the means of communication and data transfer. This paper describes the existing approaches,
  their advantages and disadvantages, and suggests another approach for creating distributed robotic
  systems. Each nodes network connection in the existing approaches is provided by transferring data
  with their subsequent processing The article describes an approach based on the encapsulation of
  executable code in transmitted network packets. The object interaction is carried out through the
  control data transfer that interpreted by a distributed virtual machine. The object-oriented programming
  (OOP) paradigm extension by the concept of a complementary object, allows to create a distributed
  system that abstracted from the network programming difficulty. An object-oriented approach
  based on complementary object usage allows to develop a distributed system as a single program,
  concentrating on the implementation of logic. So we passing from the distributed system as an
  implementation of separate modules concept to the single distributed program concept without a
  “syntax breaking”.The proposed approach allows to represent a distributed robotic system in the
  OOP paradigm as a set of objects interacting over a communication network.

• JUSTIFICATION OF A COMPLEX OF HUMANITARIAN DEMINING MEASURES. METHODOLOGICAL VIEWS

  А.Y. Barannik , А.V. Lagutina , А. А. Lebedev

  2026-04-29

  Abstract ▼

  The need to conduct explosive ordnance clearance operations in liberated territories has necessitated a significant expansion of humanitarian demining capabilities. Particular attention is being paid to increasing the number of highly effective robotic systems capable of searching for and destroying various types of explosive ordnance. The relevance of this study is determined by the fact that the Russian Federation is currently actively developing and producing robotic systems capable of solving these tasks with varying degrees of effectiveness. In many cases, these products are manufactured by companies lacking the necessary experience and, consequently, often failing to deliver the required quality of work. At the same time, the increasing demand for these resources and the increasing funding for their production has made it increasingly important to economically justify both their development and production strategies and the technologies for their application. Based on this, studies were conducted to develop an approach to optimize the allocation of financial resources when planning explosive ordnance clearance activities, identifying the most effective areas for mine clearance development, and improving the organizational structure of units equipped with the appropriate robotic equipment. This approach was based on an assessment of the likelihood of completing explosive ordnance clearance tasks with the assigned forces and resources, as well as an assessment of the costs of performing work included in a set of humanitarian demining activities using robotic equipment. The practical significance of the study lies in the fact that the obtained results will help identify the most cost-effective development directions for robotic humanitarian demining systems and prepare proposals for improving the organizational structure of units that will be equipped with these systems.

• DEVELOPMENT OF AN UNDERWATER VEHICLE ROBOTIC SIMULATOR TO STUDY METHODS OF RESIDENT AUVS AUTONOMOUS INTERVENTION WITH UNDERWATER INFRASTRUCTURE OBJECTS

  А.М. Maevsky, I.А. Pechayko, М. А. Alekseev, N. М. Burov

  2025-04-27

  Abstract ▼

  The article presents the process of developing an underwater vehicle simulator (USV) with an installed
  5-degree underwater manipulator complex (MC). The simulator is designed for complex testing of
  autonomous interaction of a marine robotic complex (MRC) with underwater infrastructure objects. In
  particular, an example of solving the problems of simulator operation with a model of an underwater panel
  of an underwater production complex (UPC) and solving the problem of determining concretions and
  their autonomous collection using the simulator and MC are considered. Modern trends in the development
  of underwater robotics are focused on the creation of resident autonomous systems capable of operating
  in remote and hard-to-reach areas of the World Ocean all year round. The development of resident
  technologies is associated with the need to reduce operating costs, minimize risks to personnel and increase
  the autonomous functioning time of underwater complexes. The use of such technologies is especially
  relevant in the conditions of offshore shelf development, where traditional methods of operating
  underwater vehicles encounter technical and economic limitations. The need to carry out work on the distant shelf is due to the increasing demand for hydrocarbon resources and the depletion of easily accessible
  deposits on the continental shelf. According to forecasts, promising deep-water areas located at
  depths greater than 1000 m have significant potential for oil and gas production. According to experts, the
  volume of recoverable reserves in such areas can amount to hundreds of billions of barrels of hydrocarbon
  raw materials, which makes the development of effective autonomous solutions a strategically important
  task for the oil and gas industry. The paper presents software and hardware solutions used in the
  implementation of the USV. A structural diagram of the design is provided; the software architecture and
  features of the use of artificial neural network (ANN) systems as part of the technical vision system (TVS)
  of the USV are described. The use of TVS allows to significantly increasing the autonomy of underwater
  manipulators when performing complex technological operations, such as capturing objects from the
  ground, working with bottom infrastructure objects, etc. In conclusion, the obtained results are demonstrated,
  confirming the operability of the adopted design, software and hardware solutions when performing
  real work in autonomous mode with mock-ups of hot-stab and torque-tool working tools and mating
  parts located on the mock-up of the UPC panel.

• MODEL AND ALGORITHM OF OPERATIONAL PLANNING OF LOGISTIC PROCESSES OF TIMELY DELIVERY OF CARGO WITH THE INTERACTION OF A GROUP OF ROBOTIC COMPLEXES

  Е.D. Grigoreva, V.А. Ushakov

  2025-04-27

  Abstract ▼

  The purpose of the study is to improve the quality of operational planning (program control) of logistics
  processes in the conditions of modern urban systems with the interaction of a group of robotic systems.
  The quality of management in this study will be assessed by the number of deliveries completed after
  established directive deadlines. The goal set during the study is decomposed into the following tasks: system
  analysis of the current state of research in the field of metropolitan logistics, implementation of a
  substantive and formal formulation of the problem of operational planning of logistics processes in a metropolis
  using a group of robotic complexes, development of a model and algorithm for operational planning
  of logistics processes in a metropolis using a grouping of robotic complexes, development of special
  model-algorithmic support and its software prototype for solving the problem of operational planning of
  logistics processes in a metropolis using a grouping of robotic complexes. Proactive (anticipatory) management
  of a group of robotic systems when solving transport and logistics problems in a metropolis within the framework of the “Smart City” concept allows increasing the economic efficiency of cargo delivery.
  The article examines the scientific and technical problem of synthesizing technologies (plans) for the timely
  delivery of small-sized cargo using a group of robotic systems. The scientific significance lies in the
  application of the concept of integrated (system) modeling and proactive (anticipatory) management, and
  the practical significance lies in ensuring timely delivery of goods using a group of robotic complexes in a
  metropolis. The article discusses an example of solving the problem of operational planning of logistics
  processes using the example of Innopolis using the characteristics of Yandex delivery robots (as robotic
  complexes). During the study, an analysis of various options for objective functions was carried out: maximizing
  profit and minimizing delivery time; profit maximization; minimizing time; minimizing the number
  of robotic systems. The following indicators were chosen to evaluate the results obtained: total profit from
  deliveries; the number of deliveries not delivered on time and the total number of completed orders.
  The most suitable objective functions for solving the problem are time minimization or simultaneous time
  minimization and profit maximization. In addition, the conclusion provides directions for further research

• ASSESSMENT OF THE HARDWARE COMPOSITION OF ONBOARD COMPUTING SYSTEMS OF ROBOTIC COMPLEXES BASED ON THE TASKS BEING SOLVED

  K. А. Suminov, N. А. Bocharov, М. А. Kirilyuk

  2025-04-27

  Abstract ▼

  In the development of modern robotic complexes (RC), there is a significant diversity in both hardware
  and software solutions, which creates additional challenges in selecting a rational hardware and
  software composition to ensure the required computational power and to effectively address the assigned
  tasks. On one hand, it is often necessary to work with an already installed set of computing systems (CS)
  that form the onboard computing system (OCS) of the RC, which substantially limits the possibilities for
  modifying the software composition and necessitates the adaptation of algorithms to fixed hardware resources.
  On the other hand, when there is an opportunity to modify or create a new hardware composition,
  it becomes necessary to choose a hardware configuration that can meet the computational requirements
  of the tasks being solved. This article proposes a methodology for assessing the hardware composition
  of the OCS of RCs based on the tasks being solved, relying on the use of multiversion programming
  and the creation of solution passports. Each variant of the software solution for a specific task is supplemented
  by a structured passport that contains both quantitative and qualitative characteristics, allowing
  for a detailed comparative analysis. Based on these solution passports, a mathematical model is developed
  that enables the selection of a set of computing devices capable of executing all the assigned tasks while
  simultaneously minimizing the total cost, energy consumption, or other operational characteristics of the OCS. Mathematically the problem under consideration is reduced to a generalized multiplicative multidimensional
  knapsack problem with multi-choice and additional constraints, which allows both resource and
  topological dependencies among the tasks being solved to be taken into account. Experimental results obtained
  using the developed simulation platform are presented, demonstrating the practical applicability of the
  methodology and confirming the possibility of using it to obtain quantitative estimates of the hardware composition
  variants of the OCS of RCs. This approach can be adapted for various types of RCs, which facilitates
  its use in related studies in the field of optimizing computing systems for robotic complexes

• AN ONTOLOGICAL APPROACH TO THE CREATION OF ROBOTIC COMPLEXES WITH AN INCREASED DEGREE OF AUTONOMY

  S. М. Sokolov

  42-59

  2022-04-20

  Abstract ▼

  The aspects necessary for the implementation of robotic complexes with an increased degree of
  autonomy (RC with IDA) in practical work are considered. The distinctive features of such complexes,
  the needs of the corresponding intelligent information control systems (IIСS) are indicated. The requirement
  of situational awareness is highlighted and, as a consequence, the need for a diverse system
  of knowledge representation, means of perception of the external environment and comparison of operational
  information with models and a priori information about this environment. In addition, it is pointed
  out the need to automate the processes of creating RC with IDA, accessibility, and simplification of their
  use. In order to answer these questions, the paper proposes to use the concept and mechanisms of ontologies
  in relation to autonomous robotics. Examples of existing solutions in this area are given. In robotics,
  ontologies are used to define and conceptualize knowledge accepted by the community, using a
  formal description that is machine-readable, shared, and contains the flexibility to justify this knowledge
  in order to derive additional information. Ontologies are of considerable interest for multi-agent systems
  for organizing interaction between agents and with other systems in heterogeneous environments,
  the possibility of reuse and support for the development of new RCs. The author describes the construction
  of an ontology proposed by the author in such an applied field as information support for targeted
  movements of autonomous ground vehicles based on technical vision systems. All consideration is conducted
  in the configuration space of the information and control systems of the RC with IDA. This space
  allows you to aggregate a large number of different technologies used in the construction of RC. The
  embodiment of a particular system in this space corresponds to the "assembly point". The coordination
  of the forms of knowledge representation in the IICS is ensured by the consistent consideration of planes
  in this space. As a connecting link – a means for automated translation of descriptions of descriptive
  ontologies into descriptions of functional, machine-readable ontologies, the use of the language of information-
  motor actions and interpretive navigation commands is proposed. In conclusion, the shortterm
  prospects for the development of the described approach are considered, and wishes are expressed
  to the domestic community of roboticists.

• OPERATIONAL AND TACTICAL REQUIREMENTS FOR THE SYSTEM OF COUNTERING GROUND-BASED RTK VN MEANS OF ELECTRONIC DESTRUCTION (SUPPRESSION) OF THE ENEMY

  A.I. Nagovitsin, B.B. Molotkova

  2021-04-04

  Abstract ▼

  The analysis of vulnerable systems and elements of a typical robotic complex is carried out. It
  is concluded that the greatest danger is represented by the vulnerabilities of the control channels of
  the RTK HV from the means of electronic suppression. The classification of the main threats for the
  RTK control channels, as well as the results of the analysis of possible effects from the impact of the
  threats described above on each of the channels are presented. The evaluation of the effectiveness of
  the radio control channel when using active masking interference stations (SAP) and the evaluation
  of the effectiveness of the data transmission channel when using SAP. Based on the evaluation of the
  effectiveness of the radio control channel and the data transmission channel when the enemy uses
  active masking interference (SAP) stations, a possible effective control zone is determined, which is a
  circle of different radii with the center at the location of the PU. Taking into account the general
  technical requirements for types of weapons and military equipment, the main operational and tactical
  requirements for the RTC VN counteraction system in terms of radio-electronic protection are
  formulated, such as electromagnetic compatibility( EMC), noise immunity and noise immunity, radiotechnical
  masking of radio-electronic means (RES), protection of RES from enemy radio-electronic
  counteraction, protection of RES from electromagnetic and ionizing radiation of a nuclear explosion,
  reduction in the effectiveness of enemy radio-electronic reconnaissance, the security of computer
  means of PPDU and samples of NRTS VN from destructive information influences and others. Taking
  into account the general technical requirements for types of weapons and military equipment, the
  main operational and tactical requirements for the anti-RTK VN system in terms of electronic protection
  are formulated. The requirements for the RES of the PPDU and the samples of the NRTC of the
  HV for limiting the power flux density of the electromagnetic field created by the radiation of the
  heterodyne of the transceiver device in order to exclude the recognition by the equipment of direct
  reconnaissance (detection) of the enemy's REP and SNO means are defined. In conclusion, the conclusion
  is formulated that the proposed list of operational and tactical requirements for the system of
  countering the RTC VN means of electronic destruction (suppression) of the enemy and recommendations
  for limiting the power flux density of the electromagnetic field created by the radiation of radio
  transmitting devices of the control systems of the RTC VN should be fully taken into account when
  developing and creating control systems for ground-based robotic complexes for military use. In
  addition, when developing military robotic systems, it is necessary to take into account the everincreasing
  capabilities of promising means of electronic destruction (suppression).

• NATURAL LANGUAGE CONTROL OF CONSTRUCTION ROBOTIC SYSTEMS

  D.G. Makoeva , I. R. Tlupov , А. О. Shogenov

  83-93

  2025-11-10

  Abstract ▼

  The study aims to investigate the potential of natural language control systems for construction robots. It is the lack of reliable natural language processing systems that serves as a limiting factor that prevents intelligent robotics from fully realizing its potential. The work provides an overview of modern robotic construction systems that are used to facilitate and improve construction and engineering processes and tasks. What unites all these systems is the lack of natural language control. In this paper, we present principles, algorithms, and methods that allow an intelligent agent to penetrate the essence of the context of a situation unfolding in the field of construction and engineering tasks. The approach is based on a multi-agent neurocognitive architecture, which serves as a kind of tool for modeling the process of automatic interpretation of phrases taken from a limited subset of natural language. In order for an intelligent agent to correctly interpret an incoming message, it must accurately determine the conditions, actions, properties, and relationships that take place in the "intelligent agent - environment" system. Only then does the agent gain the ability to interpret the context of the current dialogue and generate statements necessary for designing cooperative behavior aimed at jointly overcoming technical obstacles. One of the most common problems requiring a solution in the rapidly developing field of robotics is the development of a dialogue control system capable of coordinating joint human-machine behavior and interpreting goals and mission conditions set out in natural language. A control system based on natural language is an integral part of an intelligent system, the foundation of which is a self-organizing multi-agent neurocognitive architecture. Its main goal is to establish seamless communication between human-machine teams so that they can jointly set, describe and successfully complete complex construction tasks. The fundamental element of the approach is multi-agency, which allows the robot's decision-making system to be flexible, adaptive and continuously expand the range of its knowledge, generating questions necessary for further work.

• FORMATION AND INVESTIGATION OF DOPED ZINC OXIDE MEMRISTIVE FILMS FOR MACHINE VISION SYSTEMS OF ROBOTIC COMPLEXES

  Z. Е. Vakulov , R.V. Tominov , Д.A. Dzyuba , V.А. Smirnov

  116-123

  2025-11-10

  Abstract ▼

  The results of investigation of the influence of synthesis modes of doped zinc oxide thin films by pulsed laser deposition on their morphological and electrophysical characteristics are presented. Experimental studies of the influence of dimensional effects on the parameters of resistive switching of memristor structures based on thin films of doped zinc oxide have been carried out. The relationship between the morphological parameters of the films, their thickness and resistive switching characteristics has been established. The results showing how thickness, surface roughness and average grain diameter influence the ratio of resistance in the high-resistance and low-resistance states, as well as the switching voltages U_set and U_res have been obtained. It is shown that an increase in the thickness of gallium-doped zinc oxide films leads to an increase in the Uset and Ures voltages, while the dependence of the resistance ratio in the high-resistance and low-resistance states has a complex character, with a maximum observed at a film thickness of about 30 nm. The obtained results allow us to estimate the degree of influence of structural and morphological parameters of doped zinc oxide films on the resistive switching effect in them, and also to formulate recommendations for obtaining these films with the required resistive switching parameters. It was found that increasing the thickness of gallium-doped zinc oxide films from 11.8±5.1 nm to 55.1±18.4 nm it is possible to change the value of charge carriers concentration from (2.84±0.22)∙1019 cm-3 to (1.42±0.13)∙10²⁰ cm^-3, as well as the mobility of charge carriers from 54.48±4.07 cm²/(V∙s) to 18.77±0.83 cm²/(V∙s). At the same time, increasing the thickness of gallium-doped zinc oxide films also leads to an increase in resistance in the high-resistance state from 1.38±0.11 MΩ to 62.59±5.4 MΩ and resistance in the low-resistance state from 0.005±0.001 MΩ to 0.041±0.002 MΩ. The results obtained can be used in the development of physical principles of creation of electronic component base of artificial intelligence systems for manufacturing new devices and devices of nanoelectronics and adaptive neuromorphic systems

• APPROACHES TO MIDDLEWARE UNIFICATION FOR ROBOTIC SYSTEMS ON THE ELBRUS HARDWARE–SOFTWARE PLATFORM

  N.А. Bocharov , К.А. Suminov , М.А. Kirilyuk , N.B. Paramonov

  2026-04-29

  Abstract ▼

  Import substitution of hardware–software control systems is a key enabler for the development of Russia’s domestic robotics industry. The limited software ecosystem of Russian computing platforms still constrains their use in onboard computing systems (OCS) of robotic systems (RS), even though modern domestic multicore processors—such as the Elbrus—offer competitive performance and energy efficiency. ROS (Robot Operating System) and its successor ROS 2 are widely adopted for robotics software development, but official support is largely restricted to x86 and ARM architectures running mainstream Linux distributions. At the same time, a substantial amount of deployed application software remains ROS-based, while ROS 2 continues to evolve rapidly. This creates a practical need to support both ROS and ROS 2 on domestic hardware–software platforms. This work investigates approaches to unifying robotics middleware based on ROS and ROS 2 for the Elbrus platform. We implemented two porting strategies:
  (1) application-level binary translation and (2) a fully native build. The native approach included adapting architecture-specific dependencies, modifying architecture-dependent code, and producing Debian (deb) packages. We then evaluated both approaches under multiple runtime configurations, including scenarios where ROS and ROS 2 operate together. Experimental results confirm that the Elbrus platform can be integrated into the modern robotics software ecosystem. They also show that the native implementation delivers higher performance than the binary-translated solution. The proposed work expands the toolchain available for robotics development on domestic platforms and reduces technological dependence when building control systems for robotic systems.