№ 1 (2025)
Surveys
Unmanned Vehicles: A Survey of Modern Simulators
Аннотация
This survey is devoted to popular simulators supporting rough terrain for unmanned vehicles, namely, Gazebo, CARLA, AirSim, NVIDIA Isaac Sim, and Webots. Their main capabilities related to terrain modeling, motion physics, and support for sensors and weather conditions are described. Particular attention is paid to the creation of realistic rough terrain scenes, the complexity of importing real maps, and interaction with other software platforms, such as Robot Operating System (ROS) and artificial intelligence (AI) systems. The main drawbacks of each simulator are analyzed: the labor intensity of creating detailed terrain and vehicle models, the high complexity of integrating real maps, and the dependence on powerful hardware. The survey also notes the complexity of interaction with various software solutions and the required knowledge of 3D modeling. Gazebo and Webots are remarkable for their good integration with ROS but require more effort to work with rough terrain. CARLA and AirSim provide high-quality visualization but have higher requirements for creating landscapes. NVIDIA Isaac Sim stands out for AI simulation support but is resource-intensive. The authors’ experience in mapping vehicle trajectories and orienting in some simulators is presented.
Control Sciences. 2025;(1):3-15
3-15
Mathematical Problems of Control
Polynomial Regression of Expert Estimates of Complex Quality
Аннотация
The multicriteria ranking problem of objects with several useful qualities is considered. Relating to the field of multicriteria optimization, this problem also arises when management decisions are chosen among several alternatives. The goal of this study is to develop a solution method based on calculating complex (generalized mean) quality indicators that represent polynomials from the class of normalized mean functions. The latter belong to strictly monotonic, shift-invariant aggregation operators. Such polynomials are called SPs for short. For example, the weighted arithmetic mean indicators of complex quality are SPs of degree 1. Apparently, SPs have all the properties of such linear functions that are essential for multicriteria ranking. Within the method presented, called the interactive approximation of expert estimates, we SPs of arbitrary degree for calculating complex quality indicators. This approach is similar to the expert-statistical method for determining weights. It provides the best root-mean-square approximation of any number of expert estimates, reducing their uncertainty and increasing their mutual consistency during the expertise procedure. The SPs of degrees 1, 2, and 3 are described below. The interactive approximation method of expert estimates is tested for SPs of degree 2 in the problem of calculating a complex quality indicator for smartphones ranked by seven partial qualities.
Control Sciences. 2025;(1):16-29
16-29
Analysis and Design of Control Systems
Dynamic Anisotropy-Based Controller Design for Time-Invariant Systems with Multiplicative Noise
Аннотация
This paper considers a linear discrete time-invariant system with multiplicative noise and a control input under an external disturbance from a special class. The plant’s dynamics are described in the state space. The class of external disturbances contains a set of stationary Gaussian sequences with a bounded mean anisotropy. The anisotropic norm of the closed-loop control system is chosen as the performance criterion. It is required to design a dynamic link-based control scheme under which the anisotropic norm of the closed-loop control system will be bounded by the minimum possible threshold. At the first stage of solving this problem, the controller’s dynamics are written out and the plant under consideration is augmented. The boundedness criterion of the anisotropic norm in terms of matrix inequalities is used to derive sufficient conditions for the existence of a solution of a convex optimization problem to minimize the upper bound of the anisotropic norm. A special change of variables is performed in the resulting inequalities to eliminate the nonlinear dependence on the unknown controller matrices. After a linearizing inversible change of variables, the optimization problem is solved numerically using standard methods. At the last stage, the desired controller matrices are calculated in the state space to ensure the bounded anisotropic norm of the closed-loop control system.
Control Sciences. 2025;(1):30-39
30-39
Control in Social and Economic Systems
On Coalitional Rationality in a Three-Person Game
Аннотация
To determine the solution of any game in mathematical game theory, it is necessary to establish what behavior of the players should be considered optimal. In noncooperative games (games without coalitions), the concept of optimality is related, e.g., to the concepts of Nash and Berge equilibria. Optimality in the theory of cooperative games is characterized by the conditions of individual and collective rationality. This paper considers a three-person cooperative game in normal form. For this game, the concept of coalitional rationality is introduced by embracing the conditions of individual and collective rationality with some combination of the concepts of Nash and Berge equilibria. Sufficient conditions are established under which the game has a coalitional equilibrium of this type. In addition, the existence of such a solution in mixed strategies is proved in the case of continuous payoff functions and compact strategy sets of players.
Control Sciences. 2025;(1):40-45
40-45
Information Technology in Control
Constructing Scientific Publication Profiles Based on Texts and Coauthorship Connections (in the Field of Control Theory and Its Applications)
Аннотация
The calculation of scientific publication profiles is crucial in the systematization of scientific knowledge and support for scientific decision-making. This paper proposes a method for forming publication profiles in the field of control theory, based on the integration of text analysis and coauthorship network analysis. We describe a basic algorithm that analyzes publication texts by a thematic classifier as well as its enhanced version that considers network connections within a heuristic approach. The methods are examined using expert assessments and quantitative metrics; according to the examination results, combining textual and network data significantly improves the accuracy of publication profiles. Hypotheses about a relationship between the thematic similarity and network proximity of publications are tested, and the approach proposed is validated accordingly. In addition, directions for further research are identified.
Control Sciences. 2025;(1):46-52
46-52
Chronicle
32nd International Conference on Problems of Complex Systems Security Control
Аннотация
The conference took place in November 2024. Scientific results presented by the conference participants are briefly described below. The conference included the following sections: general theoretical and methodological issues of security support; problems of economic and sociopolitical security support; problems of information security support; cybersecurity and security aspects in social networks; ecological and technogenic security; modeling and decision-making for complex systems security control; automatic systems and means of complex systems security support. Special attention was paid to the theoretical and applied problems of improving the effectiveness of Russia’s national economic, information, and technogenic security management processes. In total, 104 authors from 33 organizations presented 73 papers at the conference.
Control Sciences. 2025;(1):53-59
53-59