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• 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.

• EXPERIENCE IN USING TRAINING SYSTEMS WITH VIRTUAL REALITY ELEMENTS FOR TRAINING SPECIALISTS OF MISSILE FORCES AND ARTILLERY USING ROBOTIC SYSTEMS FOR MILITARY PURPOSES

  A.I. Nagovicin, S.N. Pesterev, B.B. Molotkova, I.V. Aksenov

  2020-07-10

  Abstract ▼

  The paper presents the tasks to be solved by promising RTC VN in the interests of Rvi. The conclusion is formulated that the problem of training and improving the quality of knowledge of Rvi specialists using military robotic systems remains one of the urgent problems of higher mili-tary professional education and acquires new aspects of consideration. It is shown that one of the effective ways to solve the problem of training and improving the quality of knowledge of Rvi spe-cialists is to develop and implement computer-based training systems with elements of virtual real-ity and 3D visualization of the studied samples of equipment and weapons in the educational pro-cess. The main features of the computer information and reference system "compendium of the Rvi" developed at the Mikhailovsky military artillery Academy and used in the educational process are briefly described. Preliminary results of the conducted pedagogical experiment with the use of the "Rvi compendium" are presented, and the main factors that increase the effectiveness of the educational process are Noted. Based on the results of the pedagogical experiment made a rea-sonable inference that the use of KISS "compendium Rvia" allows to increase learning efficiency, to reduce terms of development of technology that is more efficient use of training time and as a result reduce the cost of training and the number of vehicles.

• 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.

• MOVEMENT STABILIZATION OF THE QUADCOPTER ALONG A GIVEN TRAJECTORY USING A SUBOPTIMAL CONTROL LAW WITH H2/H -CRITERION

  I.S. Trenev

  2022-04-21

  Abstract ▼

  The aim of the study is to construct a suboptimal controller with the -criterion that stabilizes
  the deviation of the dynamic system from the given program trajectory. It is assumed that an impulse
  disturbance will be applied to one input of the system, and an -disturbance to the second one.
  The -norm is equal to the maximum value of the -output norm for all - and impulse disturbances
  vectors for which the sum of the quadratic form of the impulse disturbance vector with a given
  weight matrix and the squared -norm of the second disturbance never greater than one. In this paper,
  it is required to demonstrate the process of calculating the -norm in terms of linear matrix inequalities
  for a dynamical system and a system with uncertainty. An important role in the process of
  combining the -norm and the -norm in the -norm is played by the weight matrix included
  in the definition of this norm. It should be noted that, unlike the -norm, the -norm is achieved
  in the sense of the worst - and impulse disturbances, where the maximum value of the -output norm
  is reached. It is necessary to obtain and linearize the mathematical model of the quadcopter, build a
  programmed trajectory, and stabilize the deviations using a suboptimal control law with the -
  criterion in the presence of noise in the system. Linear matrix inequalities are used for suboptimal control
  searching. The object of this study is a quadcopter, which is an unmanned aerial vehicle with four
  engines with propellers that create thrust. The axes of the propellers and the angles of the blades are
  fixed and only the speed of rotation is regulated, which greatly simplifies the design. Using the Newton-
  Euler equation, a nonlinear mathematical model of a quadcopter is obtained, and this model is linearized.
  In the MATLAB environment, using the applied package for modeling and optimization YALMIP,
  Sedumi toolbox, numerical modeling, and construction of quadcopter motion trajectories are performed.
  After that, in the Simulink environment, a control block that stabilizes the movement of the
  quadcopter along a given trajectory in the presence of - and impulse disturbances in the system is
  constructed. At the end, a demonstration of the process of virtual visualization of the flight is made.

• DEVELOPMENT OF AN INTELLIGENT ROBOTIC HARVESTING SYSTEM

  Z.V. Nagoev, О.Z. Zagazezheva, К.C. Brzhikhatlov, I.А. Mambetov

  2025-04-27

  Abstract ▼

  In the context of the need to ensure food security, the tasks of optimizing production processes in the
  agricultural sector are becoming relevant. For example, given the shortage of labor in agriculture, it is
  necessary to develop and implement robotic systems to automate the processes of plant care, harvesting
  and processing. The article presents the results of the development of an autonomous robot for picking
  apples, created on the basis of a universal anthropomorphic robot developed at the Kabardino-BalkarianScientific Center of the Russian Academy of Sciences. The robot is equipped with two multi-link manipulators
  similar to human hands, which allows it to perform complex harvesting tasks. To ensure intelligent
  control of the entire system, a multi-agent neurocognitive architecture is used, which imitates the work of
  the human brain and allows the robot to adapt to changing environmental conditions. The robot is
  equipped with a set of sensors, including video cameras, ultrasonic and infrared rangefinders, lidar and
  encoders on the manipulator drives. This allows it to accurately determine the location of apples, assess
  their ripeness and plan the trajectory of the manipulators. Particular attention is paid to the development
  of a gripper that imitates a human hand and allows you to adjust the squeezing force, which minimizes the
  risk of damage to the fruit. A multi-agent neurocognitive architecture is used to control the robot, which
  provides autonomous decision-making based on sensor data. The system is able to build a map of the area,
  determine the position of the robot and plan a route, as well as recognize apples and assess their condition.
  The article also considers the problems associated with the automation of harvesting in agriculture,
  including a lack of labor and crop losses due to improper operation of equipment. The authors emphasize
  that automation and robotization of harvesting processes have great potential, especially for crops
  that require an individual approach, such as fruits and vegetables. The presented robot demonstrates high
  efficiency in solving these problems, which is confirmed by the results of field tests. The developed system
  can be adapted to work with other crops, which makes it a universal solution for the agricultural industry

• 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.

• CONTROL OF A MULTI-ROBOT SYSTEM BASED ON HIGHER-ORDER SLIDING MODES

  Nandanwar Anuj , L. А. Rybak , D. А. Dyakonov

  72-83

  2025-11-10

  Abstract ▼

  The article addresses the control problem of a second-order multi-agent robotic system with discrete time under network-induced delays. A novel approach to formation control is proposed, based on higher-order sliding mode control and cloud technologies. The interaction between agents is described using graph theory, where the Laplacian matrix  represents the communication channel between agents and the leader. The system dynamics are modeled by motion equations for the position and velocity of each agent. Special attention is paid to the impact of network-induced delays that occur during data transmission from sensors to the controller and from the controller to actuators. A multi-stage state predictor is developed, utilizing prediction methods to compensate for random delays in the network.
  The proposed control algorithm ensures rapid convergence of the system to the desired formation even in the presence of significant network delays. For each agent, a sliding surface and a reaching law are defined, taking into account multiple timestamps. A detailed stability analysis of the closed-loop system confirms the asymptotic stability of the developed control algorithm. Simulation results in MATLAB demonstrate the high efficiency of the proposed approach: a system consisting of five followers and one leader achieves the desired formation in 10.3 seconds and successfully maintains it despite random network delays. Compared to traditional first-order control methods, the new approach shows significantly improved performance, particularly in reducing chattering effects in control signals. The use of cloud technologies enables efficient real-time processing of large data volumes and implementation of complex prediction algorithms without overloading the local computational resources of the agents. The obtained results confirm the potential of the proposed approach for controlling multi-agent systems under real-world network constraints. The work also demonstrates the feasibility of using prediction methods to compensate for random packet losses and communication delays, ensuring reliable control and communication in dynamic, unpredictable scenarios

• 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.

• DEVELOPMENT OF A RELIABLE RTC COMMUNICATION METHOD BASED ON A GROUP DATA SEPARATION METHOD BASED ON A RESIDUAL CLASS SYSTEM

  Y.N. Kocherov, D.V. Samoilenko

  2021-04-04

  Abstract ▼

  The paper considers a reliable method of data transmission in commu-nication systems and
  control of robotic complexes. Due to the fact that a change in part of the encoded information
  transmitted through com-munication channels can lead to partial or complete loss of data and, as
  a consequence, lead to loss of control over the robotic complex. There-fore, it is necessary to apply methods of protecting data transmitted over radio channels. The proposed method is intended
  to ensure the protection of information in the communication channels of robotic complexes from
  the access of unauthorized users and to confirm the reliability of the information received.
  The article examines data protection methods designed to protect in-formation circulating in systems
  formed by several interacting agents. The approach under consideration is based on the
  methods of infor-mation protection and error-correcting coding based on the system of residual
  classes. The applied methods of error-correcting coding, based on the system of residual classes,
  are based on the idea of threshold data separation, in which the original information can be restored
  from parts of the original information. This is due to the fact that redundant modular
  arithmetic, or redundant system of residual classes, has unique properties with re-spect to error
  detection and correction. In addition, the system of resid-ual classes has such an advantage as low
  computational complexity of data separation algorithms. To increase the reliability of communication
  between robotic complex-es in multichannel communication systems, the paper proposes a
  meth-od for information protection and noise-resistant coding, based on a multistage threshold
  data separation. As a result of the work, a system of noise-resistant information trans-mission was
  obtained, which provides comprehensive protection for robotic systems.