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International Symposium on Computer Science, Digital Economy and Intelligent Systems (CSDEIS)

作者： Liang, Kang Karpenko, A. P. Shanghai Polytech Univ Jin Hai Rd 2360 Shanghai 201209 Peoples R China Bauman Moscow State Tech Univ Ul Baumanskaya 2 Ya 5-1 Moscow 10005 Russia

ISBN: (纸本)9783030392161;9783030392154

The paper proposes modifications of the PSO+ global optimization algorithm, which is based on the canonical particle swarm algorithm (PSO). The PSO+ algorithm is designed to solve the group robotics problem that comes down to the localization of the global extremum of a certain scalar objective function when there are no obstacles for robots' movement. The PSO+ algorithm modifications proposed in the paper make allowance for a possibility that such obstacles are present. The paper objective is to study the obstacles effect on the efficiency of the modified PSO+ algorithm. We consider two possible options of the problem: a priori information about the obstacle sizes and locations is available and specified prior information is non-available. The results of computational experiments to study the effectiveness of the modified PSO+ algorithm is presented. The experimental results show that the modification of the PSO+ algorithm proposed in the work provides a high quality solution to the considered task of group robotics under conditions when there is an obstacle to the movement of robots in the search area.

关键词： group robotics Modified particle swarm optimization algorithm Global optimization

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Advanced Cat Swarm Optimization Algorithm in group robotics Problem 13

Advanced Cat Swarm Optimization Algorithm in Group Robotics ...

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13th International Symposium on Intelligent Systems (INTELS)

作者： Karpenko, A. P. Leshchev, I. A. Bauman Moscow State Tech Univ Baumanskaya Str5 Moscow 105005 Russia

Localization of plots of land which have the highest level of radiation, chemical or alternative contamination is one of the typical group robotics objectives. The research aim lies in development, software implementation and performance study of the original robotic group control algorithm based on nature-inspired Cat Swarm Optimization algorithm. This paper proposes Cat Swarm Optimization algorithm description, features of software realization and a vast computational experiment results. The practical value of this work lies in applicability of proposed algorithm for decentralized robotic group control systems synthesis. (C) 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 13th International Symposium "Intelligent Systems" (INTELS'18).

关键词： robot group robotics SEMS decentralized robotic group control nature-inspired algorithms of global optimization contaminated plts of land localization

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Advanced Cat Swarm Optimization Algorithm in group robotics Problem

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Procedia Computer Science 2019年 150卷 95-101页

作者： A.P. Karpenko I.A. Leshchev Bauman Moscow State Technical University Baumanskaya str. 5 Moscow 105005 Russia

关键词： robot group robotics SEMS decentralized robotic group control nature-inspired algorithms of global optimization contaminated plts of land localization

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About Realization of Aggressive Behavior Model in group robotics 1st

About Realization of Aggressive Behavior Model in Group Robo...

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1st International Early Research Career Enhancement School on Biologically Inspired Cognitive Architectures and Cybersecurity (FIERCES)

作者： Karpova, Irina Natl Res Univ Higher Sch Econ Moscow Russia Natl Res Ctr Kurchatov Inst Moscow Russia

ISBN: (纸本)9783319639406;9783319639390

One of the actively developing approaches of group robotics systems creation is the use of social behavior models. Aggressive behavior is one of the underlying mechanisms forming social behavior. In this paper, the application of aggressive behavior concepts is considered by analogy with animal aggressive behavior that can be used for solving tasks of group robotics. As a role model, an ant - a true social insect - is proposed. It was shown that in aggressive behavior of ants, the numerical factor and imitative behavior play an important role. Agent's aggressive behavior model depending on accumulated aggression and the number of other nearby agents is proposed. The results of computer experiments for territory defense tasks are presented. The results show that aggression is a stabilizing factor for an approximately equal number of agents in different groups. By an increase in group size, aggression becomes a way of capturing foreign territory.

关键词： group robotics Social behavior models Aggressive behavior Territory defense task

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Collision-aware formation assignment of quadrotors 14

Collision-aware formation assignment of quadrotors

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14th International Symposium on Intelligent Systems

作者： Titkov, I. P. Karpunin, A. A. Bauman Moscow State Tech Univ 52 Nd Baumanskaya Str Moscow 105005 Russia

Formation flight of multiple unmanned aerial vehicles (UAV) is in an active development and spreads more widely in many areas of human activity nowadays. One of the basic problems in their application is a formation assignment and formation control. Many authors work in the direction of coordination control and multiple UAV path planning, discarding problems of collision avoidance when following the trajectories to the assigned target positions in dense formations. A novel formulation of the collision-aware formation assignment problem and a centralized turn-based algorithm to solve the problem of realizability of assignment and provide the optimal solution by several criteria is proposed in this paper. Besides the formation assignment solution, the priority of movement to avoid deadlocks is obtained. The approach consists of three stages: 1) obtaining of solution of assignment problem;2) validation of realizability of optimal solution with simultaneous determination of acceptable turn order;3) in case of unrealizability the next optimal solution is being validated. The proposed algorithm is validated with simulation results, which confirm the possibility of real time application. (c) 2021 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 14th International Symposium "Intelligent Systems".

关键词： Formation assignment task assignment group robotics formation flight unmanned aerial vehicle quadcopter

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Collision-aware formation assignment of quadrotors

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Procedia Computer Science 2021年 186卷 727-735页

作者： I.P. Titkov A.A Karpunin Bauman Moscow State Technical University 5 2-nd Baumanskaya str. Moscow 105005 Russian Federation

Formation flight of multiple unmanned aerial vehicles (UAV) is in an active development and spreads more widely in many areas of human activity nowadays. One of the basic problems in their application is a formation assignment and formation control. Many authors work in the direction of coordination control and multiple UAV path planning, discarding problems of collision avoidance when following the trajectories to the assigned target positions in dense formations. A novel formulation of the collision-aware formation assignment problem and a centralized turn-based algorithm to solve the problem of realizability of assignment and provide the optimal solution by several criteria is proposed in this paper. Besides the formation assignment solution, the priority of movement to avoid deadlocks is obtained. The approach consists of three stages: 1) obtaining of solution of assignment problem; 2) validation of realizability of optimal solution with simultaneous determination of acceptable turn order; 3) in case of unrealizability the next optimal solution is being validated. The proposed algorithm is validated with simulation results, which confirm the possibility of real time application.

关键词： Formation assignment task assignment group robotics formation flight unmanned aerial vehicle quadcopter

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Parameters of Motion for Multi-UGV Control System Performing Joint Transportation 4th

Parameters of Motion for Multi-UGV Control System Performing...

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4th International Conference on Interactive Collaborative robotics (ICR)

作者： Gradetsky, Valery Ermolov, Ivan Knyazkov, Maxim Semenov, Eugeny Lapin, Boris Sobolnikov, Sergey Sukhanov, Artem RAS Lab Robot & Mechatron Ishlinsky Inst Problems Mech Prospect Vernadskogo 101-1 Moscow 119526 Russia Moscow State Technol Univ STANKIN Vadkovskiy 3a Moscow 127055 Russia

ISBN: (纸本)9783030261184;9783030261177

The paper considers an algorithm for calculating the motion parameters for a group of mobile robots performing a joint transport task. The motion of this group of mobile robots is considered on a plane surface. Trajectory of motion passes over different zones with various soil properties. Rectilinear motion and motion along the arc of known radius are considered. The algorithm was successfully tested in previously developed special software for debugging and modelling.

关键词： group robotics Joint transportation task Trajectory motion algorithm Kinematics

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Multi-agent Control System of a Robot group: Virtual and Physical Experiments 1

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4th International Conference on Interactive Collaborative robotics (ICR)

作者： Kozhemyakin, Igor Semenov, Nickolay Ryzhov, Vladimir Chemodanov, Mikhail St Petersburg Marine Tech Univ St Petersburg Russia

ISBN: (数字)9783030261184

ISBN: (纸本)9783030261184;9783030261177

The paper describes the modeling, development and testing results of a multi-agent control system for a group of ground-based robots. The developed model of collective behavior was verified in the Matlab system, then transferred to the ROS framework and tested in the virtual Gazebo environment. Such a development path allowed us to obtain a workable code at the computer simulation stage and then use it to ensure the functioning of a group of autonomous ground-based robots in natural conditions. The paper describes all the main stages of the project: development of a mathematical model of the multi-agent control system, implementation in ROS system using Python language and verification by control of real robot group (group of eduMIP robots). Comparison of the results of computer simulation and the physical experiments made it possible to conclude that they are sufficiently consistent, which in turn confirms the correctness of the constructed group control model. Thus, within the framework of the SMTU project, the task of developing models and group control algorithms for a simple multi-agent system has been solved. The purpose of the next stage of work is the adaptation and development of proven models and algorithms for the control system of a group of underwater robots.

关键词： group robotics Multiagent systems Simulation model Gazebo

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The Approach to Managing a group of UAVs as a System with Distributed Parameters 13

The Approach to Managing a Group of UAVs as a System with Di...

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13th International Symposium on Intelligent Systems (INTELS)

作者： Milyakov, D. A. Merkulov, V. I. Radio Engn Corp Vega Joint Stock Co Kutuzov Ave 34 Moscow 121170 Russia

The research is devoted to one of the promising directions in the field of group control of unmanned aerial vehicles (UAVs), which function jointly within dense groups in solving specific problems. A large group of densely located UAVs is considered as a system with distributed parameters that are functions of time and spatial coordinates. The state of such a system is described by partial differential equations. A method for describing and managing such systems is proposed, based on the provisions of mathematical physics and the theory of systems with distributed parameters. The relevance of the proposed study is due to the need to solve complex tasks of trajectory control, taking into account the provision of controllability and prevention of collisions in the group of numerous UAVs. (C) 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 13th International Symposium "Intelligent Systems" (INTELS'18).

关键词： unmanned aerial vehicle system with distributed parameters complex system complicated system trajectory control group control group robotics group management system system topology simulation modeling

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Redistributing Animats Between groups 17th

Redistributing Animats Between Groups

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17th Russian Conference on Artificial Intelligence (RCAI)

作者： Karpova, Irina Natl Res Univ Higher Sch Econ 20 Myasnitskaya Ulitsa Moscow Russia

ISBN: (纸本)9783030307639;9783030307622

The paper refers to the research direction in which models of social behavior are the methodological basis for the functioning of robot (animat) groups. The purpose of this study is to implement a complex regulatory behavior of animat groups using previously created models and methods. The applicability of this approach is demonstrated by the task of redistributing animats between groups. To accomplish this, the paper proposes to implement a mechanism similar to the phenomenon of slavery that is characteristic of some species of ants. Slavery is a form of social parasitism and can be considered as a method for the redistribution of individuals between families (groups). The paper describes different types of slavery and the behavior of slave owners and slaves among species of ants. The main processes that make up this behavior are: exploring territory, organization of raids, seizure of slaves and their transfer to the slave-maker nests, and slaves adaptation in the new nest. It is proposed that this behavior is based on the "friend-alien" identification and is an evolutionary development of food and territorial behavior. The paper describes previously created methods, models, and mechanisms for implementing similar forms of animats' behavior: foraging, pack hunting, territory defense, and domination based on aggression. A method for identifying an animat and determining its internal state, which is necessary for organizing the interaction of animats, is proposed. Finally, the paper describes experiments confirming the applicability of the proposed method.

关键词： group robotics Social behavior models Ant slave-making Foraging task Aggressive behavior

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