Maxim Rovbo

Kurchatov Institute · NBICS

Robots are increasingly required to work in close cooperation with humans and other robots, performing common tasks jointly, in collaboration. High-level decision making by an autonomous agent with such interactions require specific means of responding to the situation. This paper describes the implementation of the control system for a collaborati...

The article discusses using discrete-event models to control the coordinated behavior of groups of agents and proposes a mechanism for organizing behavior control based on a hierarchy of finite state machines (FSM). The basic level of agent movement control uses a continuous model of joint movement — the method of potentials, in which the direction...

Problem statement: It is important to be able to share various types of information between robot modules, including high-level data received from the user and low-level signals from the sensors. This paper describes an implementation of such a system that uses semantic networks as a generic representation providing interpretability of instructions...

Problem statement: Wheelchairs have a widespread usage both as a rehabilitation tool and as an assistive device in the daily lives of people with disabilities. However, some disabilities make it difficult to use traditional wheelchairs that are operated manually or with a joystick. This paper describes an intelligent control system for wheelchair a...

The paper describes a hierarchical control architecture for robotic systems with learning that allows combining various goal-directed algorithms. A top-level control algorithm is proposed that switches control between base algorithms: Q-learning, random walk and a rule-based planning. The algorithm is implemented as a software module and is verifie...

The aim of this research is to develop a novel method of affecting actions of an intelligent agent that allows changing the group behavior of such agents. The topic is relevant because group control is a complex and important task with considerable practical value. Proper management of a group of workers, schoolchildren or students has a beneficial...

The article considers the project of educational and research software and hardware kit designed for use in case-based educational project activities based on the theme of energetically autonomous robots. An important feature of the complex is its interdisciplinarity since robotics combines many fields of science and technology — mechanical design,...

This paper describes the architecture of KVORUM, the agent-based modeling environment developed by the authors to explore certain design decisions and facilitate simulation usage in the field of group robotics, specifically for research of robotic systems with elements of a social structure. KVORUM is a prototype of a simulation system that should...

In this work we consider an environment exploration and mapping task for a group of heterogeneous mobile robots. We propose a range of methods tied together in a hierarchical two-level control system. The distinguished features of the proposed system are the use of subdefinite models for robot localization as well as an original mechanism for local...