Creation of autonomous groups of combine harvesters and tractors for agriculture based on the Mivar decision-making systems “ROBO!RAZUM”

Abstract The Mivar decision-making system (MDMS) “ROBO!RAZUM” can be used to control autonomous combine harvesters and tractors, which can additionally perform a variety of actions in the process of moving through the field: working in group interaction mode, performing tasks in different weather conditions and even with a faulty or disabled technical vision using the internal map of the area and information from internal inertial sensors or from the GLONASS system. The theoretical basis for the application of MDMS “ROBO!RAZUM” is the result of the practical implementation of MIPRA program, which dramatically reduced the requirements for equipment and time to solve the problems of STRIPS-planning robot actions.