Магид Евгений Аркадьевич

Application Layer Protocol for a Heterogeneous Group of Mobile Robots in Search and Rescue Scenarios

2025 · ARTICLE · en

Search and rescue (SaR) robotics is a fast-growing domain of academic research and field applications. Robots are widely used in various tasks before, during and after a disaster outbreak. SaR missions require fast hardware deployment, should rely on robust systems and tend employing groups of collaborating robots, which increase overall system performance and reliability. Heterogeneous robotic group connectivity demands a unified way of communication, which could be used by robots with different hardware and software. Such communication protocol should be open source and flexible enough to be applicable in international SaR missions. In this paper, we present a new protocol for heterogeneous robots’ interaction within a SaR mission. The proposed application layer protocol is based on well-tested modern technologies and implements the above-listed features that make it applicable in practice. The protocol is extendable, flexible and outperforms previously developed SaR robotics interaction protocols since it considers advantages, disadvantages and implementation difficulties that had been faced by the previously suggested protocols. The protocol was experimentally validated in a joint mapping task within a laboratory environment.

ROS-based navigation in unknown environment using the InsertBug algorithm: Issues of practical usage

2025 · ARTICLE · en

BUG-алгоритмы являются эффективным решением для локальной навигации роботов в неизвестных средах. В статье рассмотрены особенности и сложности практической реализации алгоритма InsertBug на базе робототехнической операционной системы ROS, который использует данные лазерного дальномера и одометрии для построения локально оптимального пути в неизвестной среде. Апробация разработанного алгоритма проводилась на роботе TurtleBot 3 Burger в виртуальной среде Gazebo. Эффективность алгоритма оценивалась в лабиринтах, средах с простыми выпуклыми и вогнутыми препятствиями, а также в условиях, имитирующих офисные помещения. Критериями оценки служили пройденное роботом расстояние и сумма угловых вращений. Полученные результаты подтверждают высокую эффективность алгоритма в различных средах и демонстрируют существенный вклад, который вносит представленная реализация в дальнейшее развитие и совершенствование систем автономной навигации роботов.

Design of a Robotic Injection Device for Medical Applications

2025 · CHAPTER · en

Robotic injection devices represent a significant advancement in medical technology, aimed at improving efficiency and accuracy of drug delivery. By utilizing advanced mechanisms, healthcare professionals can administer treatments with greater ease, thereby enhancing patient comfort and compliance during medical procedures. In this paper, an injection device attached to a robotic arm has been designed for administering medications into a human body. It comprises a syringe attached to a cylinder and a piston mechanism operated using a pneumatic power source. Design of the injection device is generated using a CAD software. Motion capabilities of the device are validated using a simulation study.

A Graphical User Interface for Controlling a Group of Service Mobile Robots

2025 · CHAPTER · en

Mobile robots are increasingly used to automate repetitive and labor-intensive tasks in environments such as hospitals, warehouses, offices, and manufacturing facilities. When working together, multiple robots can achieve greater efficiency by sharing workloads and coordinating complex tasks, which enables faster completion of large-scale operations. Managing such teams of robots, however, requires an intuitive system for their control. This research presents a high-level graphical user interface (GUI) for controlling a group of mobile robots. The GUI simplifies robot management by providing a user-friendly interface for task assignment, monitoring and continuous control in semi-autonomous and teleoperational modes. It establishes a seamless ROS-based communication between robot hardware and software layers. The developed software was validated in the Gazebo simulator and real environment using the ArtBul mobile robot. Results demonstrated that the GUI successfully controls mobile robots within hospital and office environments, and could be further extended for multiple agents, including robots of different types, sensors and IoT-based infrastructure.

Formation control of unmanned aerial vehicle swarms for outdoor monitoring in search and rescue tasks

2025 · ARTICLE · en

Advancements in robotics have expanded a use of unmanned aerial vehicle (UAV) swarms in critical tasks such as disaster response, including search and rescue operations during floods, hurricanes, landsliding, and earthquakes. Swarm formation control stands as a critical challenge in UAV swarm control. In this article, a simple and resource-efficient method for addressing collisions within swarm formations during outdoor missions is proposed, along with a set of formations designed for various task requirements. The proposed algorithm is implemented using the Robot Operating System (ROS) for a swarm of ten PX4-LIRS UAVs. Experiments conducted in the Gazebo simulator demonstrated the algorithm’s effectiveness, with the quantitative results presented through mean and standard deviations of the absolute positioning error measurements.

UAV Swarm Control with Operator-Leader-Followers Approach

2025 · CHAPTER · en

Swarm robotics is a complex domain within multi-robot systems that encompasses formation control, movement control, and interUAV communication. Coordinates task execution requires effctive swarm control, which relies on robust motion control algorithms and reliable data exchange mechanisms. In this work, we propose an operator-leaderfollowers approach for managing UAV swarms. It comprises the following components: centralized swarm control utilizing the Fixed Global Diffrence (FGD) algorithm for maintaining inter-UAV distances and facilitating communication; a follow-mode mechanism enabling followers to accurately track leader’s motion; and a point-by-point swarm flght path control system enhancing overall control accuracy. Implemented in the Robot Operating System (ROS) and validated in the Gazebo simulator, the algorithm’s performance is evaluated via the following simulation scenarios: Γ-shape, parabolic, and circular flght paths. The paper discusses experimental results in virtual environments of the Gazebo simulator and demonstrates achieved precision in terms of absolute error and root mean square error (RMSE).

Object Localization Based on a Single RGB Camera for a 4-DOF Robotic Arm

2025 · CHAPTER · en

Feed-forward Controller Using DeNOC Methodology for a Wheeled Humanoid Robot

2024 · ARTICLE · en

Most standard controllers for high degrees of freedom (dof) robots are prone to consume large quantity of energy and computational time. Humanoid high dof robots are mostly controlled using model-based controllers due to their better accuracy relatively to other controllers. This paper presents a model-based feed-forward control strategy incorporating a Decoupled Natural Orthogonal Complement (DeNOC) methodology for a wheeled humanoid robot. For a 15 dof humanoid robot with a wheeled base, performance of the proposed feed-forward controller was compared with a traditional feed-forward controller. A steady state error, settling time and energy consumption during a task performance were compared to determine an efficiency of the proposed controller. A simulation study and an experimental validation were used to evaluate results of the performance analysis.

A heterogeneous robots collaboration for safety, security, and rescue robotics: e-ASIA joint research program for disaster risk and reduction management

2024 · ARTICLE · en

In the face of humanitarian crises such as torrential rainfall, resulting floods, and landslides, rapid rescue operations are often imperative. However, owing to the inherent dangers and unpredictability of such circumstances, immediate on-site aid delivery is frequently unfeasible. In such challenging scenarios, mobile robot systems have emerged as the optimal solution for aiding search and rescue efforts. The ’Informational system for management of flood and landslide disaster areas using a distributed heterogeneous robotic team’ project, initiated by the International e-ASIA Joint Research Program, unitedresearchteams from Japan, Russia, and Thailand, each contributing unique expertize and experience towards common objectives. Drawing upon our extensive theoretical and practical knowledge in disaster response research, we developed an integrated international operational framework for disaster site management, centered on dispersed, heterogeneous semiautonomous Unmanned Aerial Vehicles (UAVs), Semi-Autonomous Rough Terrain Vehicles (UGVs), and Semi-Autonomous Surface Vehicles (USVs). This paper provides an overview of the methodologies, models, and algorithms employed throughout the successful three-year project conducted by the Thailand team while also directing interested readers to supplementary research papers for in-depth insights.

Evaluation of a Weather Plugin in Gazebo: A Case-Study of a Wind Influence on PX4-Based UAV Performance

2024 · CHAPTER · en