title: ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÑÑÐºÐ¸ Ð¿Ð¾Ð²ÐµÑÑ Ð½Ð¾ÑÑÐ¸ Ð²Ð¾Ð´Ð¾ÑÐ¼Ð°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Modeling an automated system for cleaning the surface of a water body
Creators: name: ÐÐ°ÑÐµÐ»Ð¸Ð½, ÐÐ»ÐµÐ³
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð°Ð³ÐµÐ½ÑÐ½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð°ÐºÐ²Ð°Ð´ÑÐ¾Ð½
Ð¾ÑÐ¸ÑÑÐºÐ° Ð²Ð¾Ð´Ð¾ÐµÐ¼Ð¾Ð²
ÑÐ¾ÐµÐ²Ð¾Ð¹ Ð¸Ð½ÑÐµÐ»Ð»ÐµÐºÑ
NetLogo
BehaviorSpace
heatmap
agent-based modeling
aquadrone
water body cleaning
swarm intelligence

description: Ð ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¾ÑÐ¸ÑÑÐºÐ¸ Ð²Ð¾Ð´Ð¾ÐµÐ¼Ð¾Ð² Ð¾Ñ Ð¼ÑÑÐ¾ÑÐ°, Ð¾Ð±Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð° Ð°ÐºÑÑÐ°Ð»ÑÐ½Ð¾ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ Ð°ÐºÐ²Ð°Ð´ÑÐ¾Ð½Ð¾Ð² Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ ÑÑÐ¾Ð¹ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ñ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ¾Ð² Ð°Ð³ÐµÐ½ÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð²ÑÐ±ÑÐ°Ð½Ð° ÑÑÐµÐ´Ð° NetLogo Ð´Ð»Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð¼Ð¾Ð´ÐµÐ»Ð¸. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ° Ð¾ÑÐ¸ÑÑÐºÐ¸ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð²Ð¾Ð´Ð¾ÐµÐ¼Ð° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ Ð°ÐºÐ²Ð°Ð´ÑÐ¾Ð½Ð¾Ð². Ð ÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° Ð°Ð³ÐµÐ½ÑÐ½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð² ÑÑÐµÐ´Ðµ NetLogo, Ð²ÐºÐ»ÑÑÐ°ÑÑÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ ÑÑÐµÐ´Ñ, Ð¿Ð¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð°ÐºÐ²Ð°Ð´ÑÐ¾Ð½Ð¾Ð² Ð¸ Ð¸Ñ Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ñ Ñ Ð¼ÑÑÐ¾ÑÐ¾Ð¼. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ° BehaviorSpace Ð´Ð»Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð½Ð° ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð¾ÑÐ¸ÑÑÐºÐ¸. ÐÑÐ¿Ð¾Ð»Ð½ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² Ð¸ Ð²ÑÑÐ²Ð»ÐµÐ½Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐµ ÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð´Ð»Ñ Ð´Ð¾ÑÑÐ¸Ð¶ÐµÐ½Ð¸Ñ Ð½Ð°Ð¸Ð»ÑÑÑÐ¸Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð². Ð ÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ°ÑÐ¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¼ÑÑÐ¾ÑÐ° Ð¸ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÐ¸ Ð¾ÑÐ¸ÑÑÐºÐ¸ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐµÐ¿Ð»Ð¾Ð²ÑÑ ÐºÐ°ÑÑ (heatmap) Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸. Ð­ÑÐ¸ ÐºÐ°ÑÑÑ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð¸Ð´ÐµÐ½ÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¸ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ð½ÑÑ Ð·Ð¾Ð½ Ð¸ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¼Ð°ÑÑÑÑÑÐ¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð°ÐºÐ²Ð°Ð´ÑÐ¾Ð½Ð¾Ð². Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ ÑÐ°Ð·Ð²Ð¸ÑÐ¸Ñ Ð¸ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð¾ÑÐ¸ÑÑÐºÐ¸ Ð²Ð¾Ð´Ð¾ÐµÐ¼Ð¾Ð², Ð° ÑÐ°ÐºÐ¶Ðµ Ð´Ð»Ñ Ð°Ð´Ð°Ð¿ÑÐ°ÑÐ¸Ð¸ Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð° Ðº Ð´ÑÑÐ³Ð¸Ð¼ Ð·Ð°Ð´Ð°ÑÐ°Ð¼ ÑÐºÐ¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐµÑÑÑÑÐ°Ð¼Ð¸.
description: As part of the work, existing methods of cleaning water bodies from debris were analyzed, and the relevance of using autonomous aquadrones to solve this problem was substantiated. A review of agent-based modeling tools was conducted, and the NetLogo environment was chosen for model development. An algorithm for modeling the process of cleaning the surface of a water body using a swarm of autonomous aquadrones was developed. An agent-based model was implemented in the NetLogo environment, including modeling of the environment, behavior of aquadrones, and their interaction with debris. Experiments were conducted using the BehaviorSpace tool to investigate the influence of various model parameters on the cleaning efficiency. The results were analyzed, and optimal parameter configurations were identified to achieve the best results. Visualization of debris distribution and cleaning efficiency using real-time heatmaps was implemented. These maps can be used to identify problem areas and optimize the routes of aquadrones. The results of this work can be used for further development and optimization of autonomous water body clÑeaning technologies, as well as for adapting the proposed approach to other tasks of environmental monitoring and resource management.