No. 1 (2021)

To increase the capabilities and expand possible applications of robotic systems for special
purposes, switching from the currently being adopted remote control systems to semi-autonomous
systems that monitor operator actions and perform part of his functions is proposed. Moving to
autonomous control systems capable of functioning in the "silent" mode, in shielded areas andbeyond the range of radio communications is proposed as a next step. Such intellectualization of
on-board control systems will allow to eliminate fundamental limitations and disadvantages
caused by the communication channel and ensures the implementation of robot group control. It is
shown that the basis for robot autonomy increasing of on-board control systems, both for movement
and tool control, is onboard environment model generation and determining the coordinates
of the control object. External environment model and current coordinates makes it possible to
automate the trajectory planning and movement, which ensures the autonomous functioning of
robotic systems. The complex problem of environment segmentation according to geometric and
ground passability is considered, taking into account the characteristics of the chassis, the geometry
of the relief and the supporting properties of the ground. The existing methods are described
and the results of experimental studies are given to solve the following main tasks: – classification
of the operation zone according to geometric passability based data from the onboard technical
vision system; – ground types recognition according to the integrated technical vision system; –
using the apparatus of neural networks to improve the reliability of ground types recognition; –
determination of ground reference characteristics by measuring the reactions of the chassis during
movement. The promising directions for further research in integrating tactile and visual information
to improve the reliability of the classification of operation zone according to the complex
criterion of geometric and support passability are formulated.

For military purposes, wireless sensor networks allow you to "link autonomous systems" into a
complex that has the property of self-organization, when objects "know" how to find each other and
form a network, and in the event of a failure of any of the nodes can establish new routes for transmitting
messages. It is possible to achieve the desired efficiency of such complexes, mainly by improving
the intellectual component of their control system in general and individual node in particular.
However, it should be noted that the vast majority of research in this area remains at the theoretical
level. The goal is to: 1) the study and development of algorithms for network design with mobile
nodes and their possible failures due to the combat mission; 2) the study and development of site use
sensor network to collect, analyze, and transmit data about the situation and decision-making in the
area of responsibility; 3) to offer relatively simple algorithms for giving the network node the property of intelligent behavior under the conditions of restrictions on power consumption and speed.
It is shown that the required algorithms can be developed if the classes of typical situations and
successful methods of action in real conditions are identified. On this basis, it becomes possible to
develop formal models (patterns) for implementation in the node management system. A two-level
structure of an intelligent network management system is proposed. The upper level, implemented
by the operator, corresponds to such properties as survival, security, fulfillment of mission obligations,
accumulation and adjustment of the knowledge base in the form of effective behavior patterns.
The object of control for it is the network, considered as a functional system.

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 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).

The article substantiates the relevance of solving the problems of searching for unexploded
ordnance, as well as archaeological and geological surveys in the waters of inland waters and
coastal zones of the Russian Federation. Using examples of mine clearance operations in the Baltic
Sea and a detailed magnetometric survey of the Phanagoria water area, the extensive capabilities
of modern equipment for localization of objects covered by bottom sediments and visually
invisible on the bottom surface are shown. The advantages of using autonomous uninhabited underwater
vehicles for the method of searching for ferromagnetic objects based on the registration
of spatially distributed magnetic anomalies are considered. The directions of development of multichannel
magnetometric search tools are shown. The potential capabilities of multichannel
magnetometric systems for identifying search objects are revealed. Using the example of the existing
technology of diving search, it is shown that the rate of exploration provided in this way is
extremely low even under the most favorable conditions: the best visibility, a gentle slope of the
bottom with a solid base. At the same time, the time for exploration of a section of the water area
by diving along one shore will be about 5 hours in favorable conditions, and, therefore, this method
cannot be used when examining large water areas. Taking into account the level of technology
achieved at the present stage, it is proposed to use autonomous uninhabited underwater vehicles
with a multi-channel magnetometric system installed as a target load for automating underwater
operations. In addition to automating the process of performing tasks, the use of uninhabited underwater
vehicles will either completely eliminate or significantly reduce the dangerous impact on
humans of measures to search for unexploded ordnance and harmful factors of deep-sea operations,
as well as reduce material and time costs by reducing operations for servicing diving
equipment. Processing the survey results and creating a map of magnetic anomalies will allow you
to identify structures whose geomagnetic properties are markedly different from the natural magnetic
background. Such a technique can significantly increase the information content and reliability
of the results of the survey of water areas, providing the identification of visually invisible
objects that have their own magnetic field. Based on the theory of the electromagnetic field and
magnetostatics, a method for calculating the parameters and efficiency of the multichannel
magnetometric system for uninhabited underwater vehicles has been developed. The method is
designed to evaluate the parameters and capabilities for detecting ferromagnetic objects and to
make a preliminary assessment of the search efficiency. As a criterion (achieving a positive result
of evaluating the parameters and efficiency of the multi-channel magnetometric system), in accordance
with the IMAS Mine Action Standards, the following condition is accepted: detection of
an object of a certain type at a given depth. The influence of the above data on the solution of the
problem was evaluated as a result of computer simulation in the software environment of the computer-
aided design system MathCAD with further visualization of the results.

An amplitude method for determining the radiation sources coordinates in passive radar is
considered. An algorithm for calculating the coordinates of radiation sources in the passive mode
of radar stations based on the reception of electromagnetic oscillations regularly damped in space
by antennas in a collinear arrangement is synthesized. The mathematical relationships necessary
to determine the coordinates of the target are obtained by solving the corresponding triangles
formed by the antenna bases and the target. This made it possible to determine the location of the
radiation source (target) by the point of intersection of the hyperbolas with the foci at the locations
of the receiving antennas. Analytical expressions are given for determining the coordinates
of targets in Cartesian and polar coordinate systems. The error analysis of the proposed algorithm
was carried out taking into account the method of indirect measurements. The case of uniform
distribution of noise over space, additively related to the signal and uncorrelated with it, is investigated.
The formula for the root-mean-square deviation of the target range is obtained. The results
of calculations of estimates of the absolute errors in determining the location of the radiation
source, which depend on its location on the plane and show that the absolute error in determining
the location of the radiation source, is minimal near the origin and increases with distance from it,
are presented. Synthesized and investigated algorithm, due to the simplicity of the hardware implementation,
can be used in passive location systems both independently and in addition to the
widely used differential rangefinder method based on measuring the mutual time delays of the
received signals.

The paper proposes the architecture of a digital platform for the implementation of distributed
control and navigation systems of underwater vehicles (UV), that perform technological operations
in an uncertain environment. The proposed digital platform is designed to automate the
following activities: monitoring the state of underwater infrastructure objects (communication
lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters
and boundaries of physical fields, zones of distribution of chemical compounds (pollution
zones) and bioresources, protection of underwater and surface infrastructure objects (underwater
mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects
of a given type (biological, man-made, etc.), performing underwater technological operations
(welding, cutting, cleaning, etc.). For this platform, a command system has been developed that
provides flexible assignment of various types and purposes of UV missions. There are five types of
digital platform messages: mission order management commands, mission load management
commands, information messages, mission and group control commands. The concept of building
distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard
UV systems with the proposed solution based on the combined hydroacoustic systems of
global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems
consist of two main parts. The first part is the initial on-board information and control system
of the UV, which ensures its movement to a given point in space at a given speed, receiving
data from on-board sensors, as well as controlling the operation of on-board equipment. The second
part – the high level control system, provides the possibility of interaction of the control system
through an acoustic communication channel with the global hydro-acoustic navigation system
and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between
the operator and the UV within the proposed digital platform have shown that reliable mission
loading and receiving information about the state of the UV is provided at different speeds and
under different operating conditions of the acoustic communication channel.

One of the tasks assigned to the autonomous underwater vehicles (AUV) is the fight
against mine danger, which includes: 1) search for and destroy mines in the mined area;
2) ensure their own safety when passing through the mined area or when working in this area;
3) ensure the navigation of ships (including submarines) through the mined area. AUV can be
considered as a further development of mine-fighting equipment, since they have a number of
advantages over mine-fighting ships: 1) exclude the loss of life in the event of a mine explosion;
2) have a lower level of physical fields to which the fuses of sea mines react; 3) are able to maneuver
at the optimal depth for searching and classifying mines. In view of this, the creation of
specialized AUV to combat the mine danger is very important. The search for mines with the
help of AUV can be carried out either in the interests of their destruction (clearing the area) or
for the purpose of guiding ships through the mined area. This article deals with the second
problem. The description of the maneuvering algorithm of the AUV when ensuring the passage
of a vessel through a mined area is given. The task is solved by detecting different types of
mines using hydroacoustic and magnetometric means of searching and classifying underwater
objects and bypassing of the mines at a safe distance. To reduce the time required to solve the
task, the detected underwater objects are classified into the "mine-like object" and "other objects"
classes. The use of the "mine-like object" class, which includes both the actual mines and
objects that are indistinguishable from mines at the distances of their detection by means of
mine search, allows you to avoid approaching detected underwater objects at a distance of their
confident classification using high-frequency sonar and television equipment, and thereby increase
the safety of the AUV and reduce the time of passage through the mined area. The algorithm
takes into account the fact that the minimum safe distance between vessel and mine greatly
exceeds the range of detection of mines of different types that does not allow AUV to find a
safe vessel passage through the mined area by a single crossing and requires complex maneuvering
of the AUV. Algorithm is intended for implementation in the AUV control system.

Most of the methods for predicting the behavior of dynamic systems are based on the information
about the parameters of their mathematical models. However, the problems of
nonstationarity, nonlinearity and nonidentifiability of models of real complex systems lead to the
fact that traditional parametric methods are applicable in practice only when the parameters and
structure of models of systems are reliably known, and the uncertainties in the formulation of the
problem are significantly limited. The article describes an original nonparametric method for
predicting the aircraft flight path under absence of a priori information about the parameters of its
mathematical flight dynamics model. The proposed method, unlike similar widely known ones,
does not use logical or statistical calculations and does not require its preliminary training or
long-term tuning. It is based only on the basis of a retrospective analysis of several sequential
values of the spatial coordinates of the aircraft and its control signals, therefore it is not subject to
model errors and can be used to predict the flight path of the aircraft under complete parametric
uncertainty, even in the case of non-identifiability of its flight dynamics model. The results of numerical
simulation of the solution to the problem of predicting the flight path of an unmanned
aerial vehicle of the most common type of quadrocopter under complete uncertainty in parameters
of its mathematical model are presented. The results obtained confirm the efficiency of the developed
method and show high performances of the accuracy of solving the problem and the speed of
tuning the algorithm. The described approach can be used to predict the motion path of any other
vehicle (car, ship, etc.), if its model is linearizable over the observed time interval and there is
information about its control signals. Practical implementation of the described nonparametric
method together with traditional parametric ones will improve the accuracy of flight path predicting
and solve the problem of high-precision landing of an unmanned aerial vehicle on an actively
maneuvering ship, and specifically in the event of various critical situations.

Aviation monitoring of fires with the help of unmanned aerial vehicles (UAVs), in particular,
forest ones, during which the search for various objects of interest is carried out: people, cars,
etc., is one of the most effective measures to reduce the level of possible losses. In this paper, we
consider approaches to the formation of algorithms for processing and improving images obtained
in the process of monitoring the fire situation, based on the use of neural networks, as well as
image filtering algorithms, in order to search for various objects of interest. Fire monitoring using
an UAV is a two-criteria task: there is a need to protect the device from the thermal effects of the
fire as much as possible, as well as to maximize the observability, which can be achieved by reducing
the altitude of the flight. This paper presents the empirical models developed by the authors for
the flight safety of an unmanned aerial vehicle and the observability of objects of interest in the
process of monitoring the fire situation. The proposed models allow us to take into account the
features of the monitoring conditions, such as the priority of detecting the object of interest to the
security of the reconnaissance vehicle itself, air humidity, terrain and type of terrain, time of day,
and so on. An example of the application of the contrast model is considered on the example of the
search and detection of the "letter"label. On the basis of the conducted experiment on the recognition
of the mark in the smoke, the analysis of the proposed models is carried out, the quantitative
results are given. The paper describes the criteria for the optimal choice of the altitude of the
flight of the device over the observed scene, which are formed on the basis of the base of expert
assessments, as well as the proposed models of the observability and safety of the UAV flight. Depending
on the target search task, the optimality criterion for choosing the UAV flight altitude
over the observed scene may vary.

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.

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.

The problem of tool path routing for the CNC thermal cutting machines is considered.
Pierce points are located at the parts bounding contours, consisting of straight-line segments and
circular arcs. Continuous cutting technique is used, each contour is cut out entirely, and no presampling
occurs, so cutting can start from any point on the contour. General problem of minimizing
the route length is reduced to minimizing the air move length. It is shown to be equivalent to
finding the shortest polyline with vertices on the contours. New algorithm for constructing such a
broken line for fixed order of contour traversing is proposed. The resulting solution is shown to be
a local minimum. Some sufficient conditions are described for the it to be also a global minimum,
which can be easily verified numerically, and some even visually. A technique is described for
automatically taking into account precedence constraints for the practically important case of
nested contours. This also decreases the size of the problem, which has a positive effect on the
optimization time. A heuristic routing algorithm based on the variable neighborhood search (VNS)
is proposed. Alternative approaches to the use of other discrete optimization methods along with
the proposed algorithm for constructing the shortest polyline for solving the complete problem of
continuous cutting, and the resulting difficulties of both theoretical and practical nature are described.
The generalization of the problem of continuous cutting to a wider class of problems of
(generalized) segment cutting is described, which makes it possible to advance in solving the problem
of intermittent cutting. The scheme of application of the proposed algorithm for solving problems
of generalized segment cutting is described. The results of numerical experiments are considered
in comparison with the exact solution of the GTSP problem.

The work is devoted to the problem of diagnosing the suspension of vehicles. The problem of
monitoring the condition of the suspension is now the most urgent due to the constant growth of
the vehicle fleet and the tightening of requirements for their safe operation. Timely and accurate
monitoring of the condition of the suspension can prevent the failure of entire vehicle components,
as well as avoid such serious consequences as a road traffic accident. In the work, modern diagnostic
tools are considered in detail, the principles of operation, advantages and disadvantages
are highlighted, the rationale for choosing from the existing methods one that can help most accurately
and quickly detect a malfunction is presented. With the advent of modern technologies, the
well-known method for assessing the state of the suspension by sound can become the most advanced,
since the human factor is excluded, computer technology is used to process the signal, the
analysis of the sound spectrum in which is carried out using computer technology. The article
discusses mechanisms that are capable of generating sound signals. The proposed diagnostic
method makes it possible to single out "useful" sounds from the total number of suspension noises,
after a comparative analysis, indicate the node whose sound differs from the standard, serviceable
one. This solution in diagnostics can significantly reduce the overall labor intensity by eliminating
partial or complete disassembly of the suspension, as a result, despite the simplification, the accuracy
of fault detection will only increase. The aim of the work is to study the vibroacoustic signals
emitted by the suspension units. With the help of sensors, the signals are read out, then mathematical
processing takes place on a computer. As a result of the research, a diagnostic method has
been developed that allows detecting hidden defects of suspension assemblies and determining the
degree of wear. The scientific novelty lies in the fact that the diagnostic process becomes automated,
all signals taken by the sensors are processed in a computer or a special scanner, information
about the state of certain nodes is displayed on the display, in contrast to existing methods, where
diagnostics is carried out visually or by ear. thus, it becomes possible to avoid mistakes.

Currently, the active use of groups of robots has begun to solve a number of tasks for civil
and military purposes. In this regard, problems arise associated with group management, the organization
of reliable communication channels and ensuring the effective functioning of the group
with limited energy resources. When solving the problem of optimizing energy consumption, the
problem of increasing the efficiency of interaction of the elements of the group with stationary
charging stations arises. This problem can only be solved by considering an integrated system,
which includes robots and charging stations. Centralized management of such a system is justified
in the case of a small number of its elements. However, with an increase in the number of elements
in a group, the complexity of management increases, so a combination of centralized and decentralized
management methods becomes a higher priority solution. The complex of problems of
decentralized management of such a group includes the task of organizing the optimal interaction
of its elements in order to achieve the goal of its functioning. When organizing energy exchange
between robots and charging stations, solving this problem plays a key role in optimizing energy
consumption. In this article, the concept of the interaction of mobile and stationary objects is developed,
which implies the possibility of each agent choosing an appropriate companion for interaction.
This choice is made taking into account the current state of the system and the assessment
of the history of interaction results. The developed concept is detailed for a system that includes
UAVs and their recharging stations. An algorithm is proposed for the decentralized selection of
pairs of interacting elements "UAV - charging station" based on two indicators - the energy efficiency
of the charging process, and the time spent by the UAV to reach the target point. Both indicators
are taken into account when choosing the weights assigned to each charging station as its
degrees of efficiency. Also, these indicators are included in the optimized quality criterion. An
optimization procedure has been developed, the result of which is the number of the charging station
that is most suitable for a given mobile object for interaction.

The aim of the study is to organize the power grid of a hybrid power supply system for an autonomous
underwater vehicle capable of moving in a wide range of speeds. The need to move the
autonomous underwater vehicle in a wide range of speeds requires the use of heterogeneous sources
of electricity operating on different physical principles - storage batteries and electrochemical generators
using reagents from the reagent storage. In addition, in order to provide consumers with
electricity with the required parameters (currents, voltages, volumes of electricity), it is necessary to
use additional switchboards, voltage converters, protective switching equipment, keys. The use of
additional equipment in the power grid allows you to flexibly configure the power grid in order to
generate energy in an amount consistent with the amount of electricity consumed. On the other hand,
additional equipment causes losses of electricity in the network, and, accordingly, additional electricity.
In this regard, the task of determining the option for organizing the power grid, at which the loss
of electricity would be minimal, is relevant. To solve this problem, the features of the use of additional
equipment in the power grid were analyzed, the consumption of electricity by an autonomous underwater
vehicle at different stages of a route assignment was analyzed, the minimum and maximum
volumes of consumption were determined when an autonomous underwater vehicle moved in different
speed modes. This made it possible to determine the degree of involvement of heterogeneous
sources of electricity in the process of performing a route assignment. Based on the results of the
analysis, alternative options for the power grid were formed. To select the option of the organization
that ensures the minimum losses of electricity, a target graph of the effect of losses on individual
devices of the power grid was formed - on the losses of the entire power grid, and using the method of
distributing tags, quantitative estimates of each of the alternative options were obtained. Teaching
quantitative assessments made it possible to determine the option of organizing an electrical network
that minimizes losses. This allows, in turn, to formulate the requirements for the functioning of the
elements of the hybrid power supply system, to develop control algorithms. In general, the result
obtained makes it possible to minimize the consumption of energy resources during the movement of
an autonomous underwater vehicle throughout the entire duration of the route assignment.

Important problems in the development of mobile robotics are the task of autonomous navigation,
automatic movement control and providing a reliable communication channel. For navigation,
an unmanned aerial vehicle can use its own inertial navigation system and a satellite navigation
system. The purpose of this article is to develop a method for reducing errors in the operation
of the inertial navigation system of UAVs caused by the presence of random and systematic errors.
In this case, we consider the situation of a monotonous increase in the systematic error over time.
Usually, navigation data obtained from the satellite does not contain a significant systematic error
in determining the coordinates. However, the satellite signal may be lost for a time significantly
longer than the period of transmission of navigation data from the satellite in normal mode.
As a result, there is a problem of increasing the accuracy of the data received from the inertial
navigation system. This problem is particularly relevant for group application of UAVs. When
solving group control tasks, it becomes necessary to prevent vehicle collisions and possible collisions
already at the stage of traffic planning. In addition, to solve a number of group tasks, such as
monitoring the terrain, conducting rescue operations, searching for objects in a given area, and
joint cargo transportation, individual objects of the group must move smoothly in space with great
accuracy. This imposes more stringent restrictions on the accuracy of the inertial navigation systems
processing and the frequency of information exchange. In this paper, we propose a method
that allows, based on data obtained from local systems that measure the mutual distances between
objects in a group. This information allows correct the estimates of their own coordinates in such
a way as to reduce the standard deviation of the corrected set of points from the true positions of
objects at a given time. The method also reduces the maximum value of the corresponding deviation
in comparison with the original set of estimates obtained from the navigation data of the INS.
The method is demonstrated by the example of increasing the accuracy of determining global coordinates
in a group of UAVs.

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.

The report considers the solution of the navigation problem with the help of a technical vision
system that determines the position of the mobile vehicle relative to the landmarks indicated
in the surrounding space. Navigation by landmarks is the most objective criterion for the location
of a mobile vehicle in the surrounding space. The method of measuring the parameters of the ratios
that characterize the location of the mobile vehicle relative to the landmarks is almost independent
of other navigation measurements. Data input for correcting coordinates and other motion
parameters can be performed not continuously, but at some discrete, and, in general, quite
rare moments of time. The general scheme of the solution is considered: from setting up, to receiving
navigation information. The integration of the obtained data with data from other navigation
tools is briefly described, and the key problems and parameters of the VS that affect the accuracy
of the obtained results are analyzed. The key point in this method is the solution of a system of
equations describing the position of robotic complexes relative to the specified landmarks. This
system is solved by a modified Gauss-Newton method for a nonlinear redefined system of equations.
By replacing the left side of each equation with its differential at the point of initial approximation,
linearization is performed. The values of the unknowns in the redefined system of linear
equations for which the sum of the squared residuals in the equations is minimal can be obtained
either by the SVD (singular value decomposition) method or by using the system's symmetrization.
At the same time, SVD is more resistant to the accumulation of computational error, but it is
somewhat more demanding on computer resources and more difficult to implement. We used the
symmetrization solution as a simpler one. The resulting system is solved by the square root
(Cholesky) method. To detect landmarks in the VS, two types of VS modules are used – panoramic,
based on a camera with a fish-eye lens, and stereo. The proposed method allows us to solve the
problem of clarifying the parameters of motion by separate, sparse measurements of the proper
position and speed relative to landmarks in the surrounding space. Independently and in combination
with other navigation tools, the described approach provides high-precision determination of
navigation parameters in various driving conditions. The results of field experiments with the
model of the proposed system in motion under various conditions are described. The ways of improvement
and development of the considered approach are discussed.

In order to create a new algorithm for automatic detection of objects with real-time training, a
study of the world scientific groundwork in the field of general-purpose automatic tracking with the
ability to recognize a tracked object with the potential for application in embedded computing systems
of optoelectronic systems of promising robotic complexes was carried out. Based on the conducted
research, methods and approaches were selected and tested that allow, with the greatest accuracy,
while maintaining high computational efficiency, to provide training of classifiers on the fly
(online learning) without a priori knowledge of the type of tracking object and to ensure the subsequent
detection of the original object in the event of its short-term loss. Such methods include a histogram
of oriented gradients – a descriptor of key features based on the analysis of the distribution of
the brightness gradients of the object image. Its use allows you to reduce the amount of information
used without losing key data about the object and to increase the speed of image processing. The
article substantiates the choice of one of the real-time classification algorithms that allows solving
the problem of binary classification – the support vector machine. Due to the high speed of data processing
and the need for a small amount of initial training data to construct a separating hyperplane,
on the basis of which the classification of objects is done, this method is chosen as the most suitable
for solving the problem. For online training, a modification of the support vector machine method
was chosen, which implements stochastic gradient descent at each step of the algorithm – Pegasos.
The authors of the study carried out the development and semi-natural modeling of the selected algorithm,
evaluated the effectiveness of its work in the tasks of detecting an object of interest in real time
with preliminary online training in the process of tracking the object. The developed algorithm has
shown high efficiency in solving the problem and is planned to be implemented as part of a special
software for optoelectronic systems of advanced robotic systems. In the conclusion, proposals are
presented to further improve the accuracy and probability of the object detection by the developed
algorithm, as well as for improving its performance by optimizing calculations.

Research in the field of creating specialized computing systems for robots is conducted in
many world scientific centers, including our country. The development of capabilities of sensor
systems, global navigation systems, growth of computing power and improvement of algorithms
allow creating onboard computing systems with broad intellectual capabilities. An important, butunsolved problem remains the equipping of such computing systems with domestically produced
microprocessors. The emergence of domestic computing systems and software of the new generation,
such as microprocessor "Elbrus-8SV" and OS “Elbrus” opens up new opportunities for developers
of robotic complexes. The peak performance of "Elbrus-8SV" microprocessor is more
than 0.25 TFLOPS of double precision, which allows solving computationally complex tasks, such
as technical vision tasks, on the microprocessor. Another important requirement of onboard computing
technology, in addition to computational power, is low power consumption. As a rule, on
general-purpose microprocessors, high performance is impossible with low power consumption,
and specialized processors, such as vector or neuroprocessors, are used to solve computationally
complex technical vision tasks. To reduce the power consumption of general-purpose microprocessors,
there are special methods, among which the authors considered: switching off the physical
cores, reducing the clock frequency, switching off the pipeline, switching off synchronous pulses
in the idle state. The authors reviewed typical technical vision tasks solved by onboard computing
systems. An experiment was conducted to estimate power consumption and execution time of
vision algorithms when the clock frequency is reduced and the microprocessor cores are switched
off. The experiments showed the possibility to decrease the power consumption of the Elbrus-8SV
microprocessor cores by 36-46% with an increase in the program execution time. Based on the
results of the experiment, conclusions were made about the applicability of the Elbrus-8SV microprocessor
for creating advanced onboard computing systems with the ability to operate both in
high performance mode and with reduced power consumption. The results obtained by the authors
indicate the prospects of import substitution in the field of robotics.

The aim of the study is to estimate the MALE-class (Medium Altitude Long Endurance) UAV
(Unmanned Air Vehicles) using possibility to solve the problem of regular aerial survey of huge
areas relative to other means used for this, such as: small-sized UAVs, satellite remote sensing
and manned aircrafts. Considered is the issue of practical construction of onboard computer vision
system based on a UAV “Orion” wit a ta eoff weig t of more t an a ton, w ic pro ides
aerial photography in the visible and near infrared range and airborne laser scanning of the underlying
surface with automatic processing of the received data on board in near real-time mode
detecting the changes occurred since the previous survey. It has been determined the key components
of the computer vision system both the hardware and software platform required highperformance
computing and big-data storage. It has been presented a promising architecture,
given estimates for its search performance, weight and power consumption, determined the typical
flight altitude, which provides the input data spatial resolution, which is necessary for objectoriented
change detection algorithms, based on a convolutional neural networks machine learning.
It has been proposed organizational and technical solutions to speed up the data processing
cycle, taking into account the requirements of the legislation regarding the declassification of
aerial survey data. The results obtained confirm that after the issuance of the Orion UAV by the
Federal Air Transport Agency of the aircraft type certificate, which gives the right to perform
commercial flights in the shared airspace of the Russian Federation, it will be possible to implement
an aerial survey complex of high productivity and degree of autonomy using cut of the edge
CV & ML technologies. It seems the tactical, technical and economic capabilities of which proposed
will be orders of magnitude superior to the currently existing solutions especially for hardto-
reach regions.