Multidisciplinary Journal of Science and Technology

NUMERICAL STUDY OF A COLLISION AVOIDANCE METHOD FOR MOBILE COLLABORATIVE ROBOTS IN A MULTI-USER ENVIRONMENT

Nataliia Demska

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Vladyslav Yevsieiev

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Svitlana Maksymova

Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Jafar Ababneh

Cyber Security department, Faculty of Information Technology, Zarqa University, Zarqa, Jordan

##semicolon## Mobile Collaborative Robots, Collision Avoidance, Numerical Modeling, MultiUser Environment, Trajectory, Agent Interaction, Industry 5.0, Adaptive Control.

---

सार

The article presents a numerical study of the collision avoidance method for mobile

collaborative robots in a multi-user environment, which is a relevant task of modern robotics in the

conditions of Industry 5.0. The proposed approach combines the principles of the mutual velocity

obstacle model and the dynamic window method, which allows forming adaptive trajectories taking

into account moving agents and static obstacles. The numerical simulation demonstrates the

effectiveness of the algorithm in complex scenarios, where robots start from different positions and

head towards separate targets, maintaining safe distances during interaction. The results obtained

show that even in cases of critical convergence, the system is able to correct trajectories and prevent

collisions. Analysis of trajectories and minimum inter-agent distances confirms the logical

consistency of the algorithm and its ability to dynamically adjust. Qualitative assessment indicates

that the system achieves stability at the later stages of modeling, which is confirmed by the increase

in distances between agents after resolving conflict situations. Thus, the developed method can be

used as a basis for building intelligent traffic control systems in a multi-user environment.

---

##submission.citations##

Maksymova, S., & et al. (2025). Decision-Making Model for Controlling a Collaborative

Robot-Manipulator Based on the Sensor Fusion Method and the Rules of Rule-Based

Systems. Multidisciplinary Journal of Science and Technology, 5(6), 526-538.

2. Yevsieiev, V., & et al. (2024). Data Fusion Research for Collaborative Robots-Manipulators

within Industry 5.0. ACUMEN: International journal of multidisciplinary research, 1(4), 125-

137.

3. Nevliudov, I., & et al. (2025). Development of mathematical support for adaptive control for

the intelligent gripper of the collaborative robot manipulator. Advanced Information Systems,

9(3), 57-65.

4. Lyashenko, V., Abu-Jassar, A. T., Yevsieiev, V., & Maksymova, S. (2023). Automated

Monitoring and Visualization System in Production. International Research Journal of

Multidisciplinary Technovation, 5(6), 9-18.

5. Baker, J. H., Laariedh, F., Ahmad, M. A., Lyashenko, V., Sotnik, S., & Mustafa, S. K. (2021).

Some interesting features of semantic model in Robotic Science. SSRG International Journal

of Engineering Trends and Technology, 69(7), 38-44.

ISSN: 2582-4686 SJIF 2021-3.261,SJIF 2022-2.889,

2024-6.875 ResearchBib IF: 9.948 / 2024

VOLUME-5, ISSUE-10

6. Sotnik, S., Mustafa, S. K., Ahmad, M. A., Lyashenko, V., & Zeleniy, O. (2020). Some features

of route planning as the basis in a mobile robot. International Journal of Emerging Trends in

Engineering Research, 8(5), 2074-2079.

7. Maksymova, S., Matarneh, R., & Lyashenko, V. V. (2017). Software for Voice Control Robot:

Example of Implementation. Open Access Library Journal, 4(8), 1-12.

8. Sotnik, S., & et al.. (2022). Modern Industrial Robotics Industry. International Journal of

Academic Engineering Research, 6(1),. 37-46.

9. Lyashenko, V., & et al.. (2021). Modern Walking Robots: A Brief Overview. International

Journal of Recent Technology and Applied Science, 3(2), 32-39.

10. Sotnik, S., & et al.. (2022). Overview of Innovative Walking Robots. International Journal of

Academic Engineering Research, 6(4), 3-7.

11. Maksymova, S., & et al. (2025). Decision-Making Model for Controlling a Collaborative

Robot-Manipulator Based on the Sensor Fusion Method and the Rules of Rule-Based

Systems. Multidisciplinary Journal of Science and Technology, 5(6), 526-538.

12. Yevsieiev, V., & et al. (2025). A human-centric approach to control collaborative robots

within Industry 5.0. Multidisciplinary Journal of Science and Technology, 5(5), 351-361.

13. Chala, O., & et al. (2025). Mathematical Model Based on Multi-Agent Reinforcement

Learning (MARL) and Partially Observable Markov Decision Process (POMDP) for

Modeling Cargo Movement for a Mobile Robots Group. Multidisciplinary Journal of Science

and Technology, 5(4), 480-489.

14. Yevsieiev, V., & et al. (2024). Human Operator Identification in a Collaborative Robot

Workspace within the Industry 5.0 Concept. Multidisciplinary Journal of Science and

Technology, 4(9), 95-105.

15. Nevliudov, I., & et al. (2025). A Small-Sized Robot Prototype Development Using 3D

Printing. acta mechanica et automatica, 19(1).

16. Yevsieiev, V., & et al. (2024). Capturing Human Movements in Real Time in Collaborative

Robots Workspace within Industry 5.0. Journal of universal science research, 2(10), 232-247.

17. Abu-Jassar, A., & et al. (2024). Building a Route for a Mobile Robot Based on the BRRT and

A*(H-BRRT) Algorithms for the Effective Development of Technological Innovations.

International Journal of Engineering Trends and Technology, 72(11), 294-306.

18. Al-Sharo, Y. M., Abu-Jassar, A. T., Sotnik, S., & Lyashenko, V. (2023). Generalized

procedure for determining the collision-free trajectory for a robotic arm. Tikrit Journal of

Engineering Sciences, 30(2), 142-151.

19. Al-Sharo, Y., Abu-Jassar, A., Lyashenko, V., Yevsieiev, V., & Maksymova, S. (2023). A

Robo-hand prototype design gripping device within the framework of sustainable

development. Indian Journal of Engineering, 20, e37ije1673.

20. Sotnik, S., & Lyashenko, V. (2022). Prospects for Introduction of Robotics in Service.

Prospects, 6(5), 4-9.

21. Sotnik, S., & et al.. (2022). Agricultural Robotic Platforms. International Journal of Academic

Engineering Research, 6(4), 14-21.

22. Maksymova, S., Matarneh, R., Lyashenko, V. V., & Belova, N. V. (2017). Voice Control for

an Industrial Robot as a Combination of Various Robotic Assembly Process Models. Journal

of Computer and Communications, 5, 1-15.

23. Chala, O., & et al. (2025). Bio-Inspired Principles for Modeling Information Collection in

Collaborative Robot Environments. Multidisciplinary Journal of Science and Technology,

5(6), 9-18.

17

ISSN: 2582-4686 SJIF 2021-3.261,SJIF 2022-2.889,

2024-6.875 ResearchBib IF: 9.948 / 2024

VOLUME-5, ISSUE-10

24. Demska, N., & et al. (2025). Analysis of Methods, Models and Algorithms for a Collaborative

Robots Group Decentralized Control. ACUMEN: International journal of multidisciplinary

research, 2(2), 235-249.

25. Chala, O., & et al. (2025). Using the Human Face Recognition Method Based on the

MobileNetV2 Neural Network in Authentication Systems. Multidisciplinary Journal of

Science and Technology, 5(3), 882-895.

26. Sotnik, S. Overview: PHP and MySQL Features for Creating Modern Web Projects/ S Sotnik,

V. Manakov, V. Lyashenko //International Journal of Academic Information Systems

Research (IJAISR). – 2023. – Vol. 7, Issue 1. – P. 11-17.

27. Lyashenko, V. V., Matarneh, R., Kobylin, O., & Putyatin, Y. P. (2016). Contour Detection

and Allocation for Cytological Images Using Wavelet Analysis Methodology. International

Journal, 4(1), 85-94.

28. Babker, A. M., Altoum, A. E. A., Tvoroshenko, I., & Lyashenko, V. (2019). Information

technologies of the processing of the spaces of the states of a complex biophysical object in

the intellectual medical system health. International Journal of Advanced Trends in Computer

Science and Engineering, 8(6), 3221-3227.

29. Lyashenko, V., Ahmad, M. A., Sotnik, S., Deineko, Z., & Khan, A. (2018). Defects of

communication pipes from plastic in modern civil engineering. International Journal of

Mechanical and Production Engineering Research and Development, 8(1), 253-262.

30. Sotnik, S., Matarneh, R., & Lyashenko, V. (2017). System model tooling for injection

molding. International Journal of Mechanical Engineering and Technology, 8(9), 378-390.

31. Kots, G. P., & Lyashenko, V. (2012). Banking sectors of the economies of European countries

in the representation of statistical interrelation between indices that characterize their

development. European Applied Sciences, 1, 461-465.

32. Куштим, В. В., & Ляшенко, В. В. (2007). Динаміка розвитку банківського сегмента

міжнародного фінансового ринку. Фінанси України, (12), 96-105.

33. Khan, A., Joshi, S., Ahmad, M. A., & Lyashenko, V. (2015). Some effect of Chemical

treatment by Ferric Nitrate salts on the structure and morphology of Coir Fibre

Composites. Advances in Materials Physics and Chemistry, 5(1), 39-45.

34. Dobrovolskaya, I., & Lyashenko, V. (2013). Interrelations of banking sectors of European

economies as reflected in separate indicators of the dynamics of their cash flows influencing

the formation of the resource potential of banks. European Applied Sciences, 1-2, 114-118.

35. Lyashenko, V., Laariedh, F., Ayaz, A. M., & Sotnik, S. (2021). Recognition of Voice

Commands Based on Neural Network. TEM Journal: Technology, Education, Management,

Informatics, 10(2), 583-591.

36. Ahmad, M. A., Sinelnikova, T., Lyashenko, V., & Mustafa, S. K. (2020). Features of the

construction and control of the navigation system of a mobile robot. International Journal of

Emerging Trends in Engineering Research, 8(4), 1445-1449.

37. Tahseen A. J. A., & et al.. (2023). Binarization Methods in Multimedia Systems when

Recognizing License Plates of Cars. International Journal of Academic Engineering Research

(IJAER), 7(2), 1-9.

38. Sotnik S., & et al.. (2022). Key Directions for Development of Modern Expert Systems.

International Journal of Engineering and Information Systems (IJEAIS), 6(5), 4-10.

39. Abu-Jassar, A., Hamdan, M., Hamash, K., Boboyorov, S., & Lyashenko, V. (2025, April).

Lab Color Model and Contrast Modification as a Tool for Improving the Quality of Medical

18

ISSN: 2582-4686 SJIF 2021-3.261,SJIF 2022-2.889,

2024-6.875 ResearchBib IF: 9.948 / 2024

VOLUME-5, ISSUE-10

Images. In 2025 1st International Conference on Computational Intelligence Approaches and

Applications (ICCIAA) (pp. 1-7). IEEE.

40. Abu-Jassar, A. T., Attar, H., Amer, A., Lyashenko, V., Yevsieiev, V., & Solyman, A. (2025).

Development and Investigation of Vision System for a Small-Sized Mobile Humanoid Robot

in a Smart Environment. International Journal of Crowd Science, 9(1), 29-43.

41. Attar, H., Abu-Jassar, A. T., Lyashenko, V., Al-qerem, A., Sotnik, S., Alharbi, N., & Solyman,

A. A. (2023). Proposed synchronous electric motor simulation with built-in permanent

magnets for robotic systems. SN Applied Sciences, 5(6), 160.

42. Rabotiahov, A., Kobylin, O., Dudar, Z., & Lyashenko, V. (2018, February). Bionic image

segmentation of cytology samples method. In 2018 14th International Conference on

Advanced Trends in Radioelecrtronics, Telecommunications and Computer Engineering

(TCSET) (pp. 665-670). IEEE.

43. Tvoroshenko, I., Lyashenko, V., Ayaz, A. M., Mustafa, S. K., & Alharbi, A. R. (2020).

Modification of models intensive development ontologies by fuzzy logic. International

Journal of Emerging Trends in Engineering Research, 8(3), 939-944.

44. Abu-Jassar, A. T., Attar, H., Lyashenko, V., Amer, A., Sotnik, S., & Solyman, A. (2023).

Access control to robotic systems based on biometric: the generalized model and its practical

implementation. International Journal of Intelligent Engineering and Systems, 16(5), 313-

328.

45. Orobinskyi, P., Petrenko, D., & Lyashenko, V. (2019, February). Novel approach to

computer-aided detection of lung nodules of difficult location with use of multifactorial

models and deep neural networks. In 2019 IEEE 15th International Conference on the

Experience of Designing and Application of CAD Systems (CADSM) (pp. 1-5). IEEE.

46. Lyashenko, V., Tvoroshenko, I., Mustafa, S. K., & Ahmad, M. A. (2020). Methods of using

fuzzy interval logic during processing of space states of complex biophysical

objects. International Journal of Emerging Trends in Engineering Research, 8(2), 372-377.

47. Semeraro, F., & et al. (2025). TriHRCBot: A Robotic Architecture for Triadic Human-Robot

Collaboration through Mediated Object Alignment. In 2025 IEEE International Conference

on Robotics and Automation (ICRA), IEEE, 6703-6709.

48. Ohta, M., & et al. (2025). Public Hand: Proximity-Aware Manipulation of Robotic Hand

Shared with Multi-User in Robotic Room. In ACM SIGGRAPH 2025 Emerging

Technologies, 1-2.

49. Hu, Y., & et al. (2025). Multi-User Telepresence Robot to Support Human Place Connection.

In 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), IEEE,

1782-1784.

50. Li, R., & et al. (2025). Guiding Multiple Remote Users in Physical Tasks with Languagedriven Robotic Telepresence. Proceedings of the ACM on Interactive, Mobile, Wearable and

Ubiquitous Technologies, 9(3), 1-34.

51. Yang, Y. H., & et al. (2025). Distributionally Robust Model Predictive Control for Trajectory

Tracking of Space Manipulator Based on Fully Actuated System Approach. IEEE

Transactions on Aerospace and Electronic Systems.

52. Hu, S., & et al. (2025). Adaptive nonsingular fast terminal sliding mode trajectory tracking

control for robotic manipulators with model feedforward compensation. Nonlinear Dynamics,

113(13), 16893-16911.

53. Alcayaga, J. M., & et al. (2025). LSTM-Enhanced Deep Reinforcement Learning for Robust

Trajectory Tracking Control of Skid-Steer Mobile Robots Under Terra-Mechanical

Constraints. Robotics, 14(6), 74.