DOI: 10.17587/prin.17.222-233

Simulation Modeling of Hybrid Teams of Humans and Humanoid Robots in a Forest Environment

G. E. Rego, Cand. Sc. (Eng.), Associate Professor, Senior Researcher, regoGr@yandex.ru, E. A. Pitukhin, D. Sc. (Eng.), Professor, Leading Researcher, eugene@petrsu.ru, Institute of Mathematics and Information Technology, Petrozavodsk State University, Petrozavodsk, 185910, Russian Federation

Corresponding author: Grigorij E. Rego, Associate Professor, Senior Researcher, Institute of Mathematics and Information Technology, Petrozavodsk State University, Petrozavodsk, 185910, Russian Federation, E-mail: regoGr@yandex.ru

This paper considers the problem of operational task allocation in hybrid teams of "humans + humanoid robots" for the forestry industry. A simulation model of the task allocation process for a hybrid team in a forest environment is developed. A distributed zonal auction algorithm with an energy-aware cost function is proposed, integrated with a digital twin of the site and performers to compensate for telemetry failures during communication breaks. The simulation study covers three scenarios: a reference operation with full connectivity, periodic channel losses, and a stress mode of a "heavy flow" of tasks. It is shown that during communication breaks, the completeness of task execution and the network traffic of coordination remain at the level of the reference due to buffering and twin forecasts; the computational cost of the auction is negligible relative to the travel times. The stress test reveals a scalability limit, indicating the need for adaptive prioritization under high loads. The results confirm the applicability of the proposed scheme to real logging conditions and outline directions for further research on scale adaptation, energy saving, and field validation.

Keywords: hybrid teams, logging, humanoid robots, simulation modeling, auction algorithm, geo-cohort planning, resilience to connection loss, task distribution

pp. 222—233

For citation:
Rego G. E., Pitukhin E. A. Simulation Modeling of Hybrid Teams of Humans and Humanoid Robots in a Forest Environment, Programmnaya ingeneria, 2026, vol. 17, no. 4, pp. 222—233. DOI: 10.17587/prin.17.222-233.

The research was supported by the Russian Federation Ministry of Science and Higher Education (state research task, theme no. 075-03-2023-128)

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