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Ant-inspired navigation algorithm based on visual landmarks
Robotics and Autonomous Systems. 2025. Vol. 193. Article 105082.
This paper describes a method for mobile robot navigation that is similar to the navigation mechanism of social insects. Unlike other bio-inspired methods that mimic certain morphological features of animals or separate natural mechanisms, the proposed approach is based on the phenomenology of the behaviour of some ant species during collective foraging. This method does not require a map, but allows a robot to memorize a path from the "nest" to the food resource based on visual landmarks, compass data (the skylight compass in insects) and the time component. The path is represented by a sequence of movements that takes the robot from one support landmark to another, as in ants. The remembered route allows the robot not only to return to the starting point, but also to repeat the route. The path built by the robot is not optimal, and the robot repeats this path approximately. However, the method does not require precise positioning and high accuracy of the sensors. The developed route description format is compact, because it only contains a sequence of directions to support landmarks, distances to them, and the amount of time the robot spent on the way from one landmark to another. A key feature of this solution is the implementation of route transmission from the scout to the forager via low-speed communication channels, for example, using the RC-5 infrared communication protocol. The method has been tested in simulations and on real robots in an indoor testing ground. In addition, due to specific architectural and technical solutions focused on modeling behaviour and the use of dimensionless parameters, the transition from simulation models to the management of technical objects (robots) can be made without the physical modeling stage, which makes development easier and cheaper.
Караваева Е. А., Кулигин Л. А., Rezunik L. et al., Труды Института системного программирования РАН 2026 Т. 38 № 3 С. 67–94
В статье представлен метод рефакторинга исходного кода на основе интеграции большой языковой модели (LLM) и расширенной UML-модели программного кода. Предложенный подход позволяет выявлять проблемные участки кода с использованием функций тревожности и структурных метрик классов, а затем выполнять автоматизированный рефакторинг. Ключевой особенностью метода является использование LLM для генерации формальных спецификаций на языке OCL (Object Constraint Language), ...
Added: May 24, 2026
Tyukin I., Tyukina T., van Helden D. P. et al., Information Sciences 2024 Vol. 678 Article 120856
AI errors pose a significant challenge, hindering real-world applications. This work introduces a novel approach to cope with AI errors using weakly supervised error correctors that guarantee a specific level of error reduction. Our correctors have low computational cost and can be used to decide whether to abstain from making an unsafe classification. We provide ...
Added: May 23, 2026
Zaikin A., Sviridov I., Sosedka A. et al., Technologies 2026 Vol. 14 No. 2 Article 84
High-dimensional tabular data are common in biomedical and clinical research, yet conventional machine learning methods often struggle in such settings due to data scarcity, feature redundancy, and limited generalization. In this study, we systematically evaluate Synolitic Graph Neural Networks (SGNNs), a framework that transforms high-dimensional samples into sample-specific graphs by training ensembles of low-dimensional pairwise ...
Added: May 23, 2026
Kibkalo Vladislav, Chertopolokhov V., Mukhamedov A. et al., IEEE Access 2026 Vol. 14 P. 14369–14392
This study presents on-the-fly identification and multi-step prediction of nonlinear systems with delayed inputs using a dynamic neural network combined with a smooth projection onto ellipsoids. The projection enforces parameter constraints that guarantee stability, while a Lyapunov–Krasovskii analysis yields computable ultimate error bounds. Riccati-type matrix inequalities are derived, providing an efficient vectorization–projection–devectorization implementation suitable for ...
Added: May 22, 2026
Loshkareva M. E., Matveeva N., Вестник Томского государственного университета. История 2026 № 100 С. 112–118
This research is an endeavor to apply social network analysis (SNA) to the study of a medieval narrative source. The authors suppose that the use of network analysis may offer new possibilities in the study of the history of regions characterized by some political fragmentation. Authors tried to construct networks of historical interactions from 1193 ...
Added: May 22, 2026
Shipilov F., Barnyakov A., Ivanov A. et al., / Series Physics "arxiv.org". 2026.
A fast simulation of the detector response is a vital task in high-energy physics (HEP). Traditional Monte-Carlo methods form the backbone of modern particle physics simulation software but are computationally expensive. We present a machine-learning-based approach to fast simulation of the Focusing Aerogel Ring Imaging Cherenkov (FARICH) detector response. Given a particle track and momentum, ...
Added: May 19, 2026
Rabat: Association for Computational Linguistics, 2026.
Added: May 19, 2026
Bezzubov S., Malikov D., Krasnov L. et al., Scientific data 2026 Vol. 13 Article 727
Solubility is a crucial property of organic compounds, impacting their potential applications in synthetic chemistry, materials science and drug design. Moreover, in technological processes mixtures of solvents are often utilized, making the solubility assessment more complicated. Predicting solubility values in mixtures of solvents from a molecular structure can help to address this issue, although a ...
Added: May 19, 2026
Pikalov V., Meshcheryakov V., Kondratev S. et al., Technologies 2026 Vol. 14 No. 1 P. 1–27
This paper presents Aerokinesis, an IoT-based software–hardware system for intuitive gesture-driven control of quadcopter unmanned aerial vehicles (UAVs), developed within the Robot Operating System 2 (ROS2) framework. The proposed system addresses the challenge of providing an accessible human–drone interaction interface for operators in scenarios where traditional remote controllers are impractical or unavailable. The architecture comprises ...
Added: May 19, 2026
Kondratev S., Yulia Dyrchenkova, Georgiy Nikitin et al., Technologies 2026 Vol. 14 No. 1 Article 69
This paper presents Aerokinesis, an IoT-based software–hardware system for intuitive gesture-driven control of quadcopter unmanned aerial vehicles (UAVs), developed within the Robot Operating System 2 (ROS2) framework. The proposed system addresses the challenge of providing an accessible human–drone interaction interface for operators in scenarios where traditional remote controllers are impractical or unavailable. The architecture comprises ...
Added: May 19, 2026
Springer, 2025.
This book constitutes the refereed proceedings of the 19th International Conference on Parallel Computational Technologies, PCT 2025, held in Moscow, Russia, during April 8–10, 2025.
The 31 full papers included in this volume were carefully reviewed and selected from 122 submissions. These papers were organized under the following topical sections: High Performance Architectures, Tools and Technologies; ...
Added: May 18, 2026
Ronglin Z., Wei L., Jiahong C. et al., Journal of Signal Processing Systems 2026 Vol. 98 P. 1–15
To address the need for lightweight and low-latency protection in massive resource-constrained 5G Internet of Things (IoT) systems, this paper proposes Key-Controlled Modulation Hopping and Constellation Rotation (KMHCR). KMHCR is designed as a physical-layer confidentiality-enhancement mechanism that avoids bit-wise full-payload encryption in the protection pipeline. It uses a shared key derived from channel-reciprocity secret key ...
Added: May 16, 2026
Suvorov N. M., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 3(2) P. 49–66
Data Petri Nets (DPNs) extend classical Petri nets to model processes where data directly influences control-flow, enabling a comprehensive view of system behavior and possibility to detect failure points that could otherwise be hidden. Soundness is a correctness criterion that captures such failure points as deadlocks and livelocks as well as model boundedness and absence ...
Added: May 16, 2026
Xiong N., Long W., He D. et al., Algorithms 2026 Vol. 19 No. 5 Article 386
In the era of data-driven education, educational social networks generate large volumes of high-dimensional and complex-structured data through learner interactions, collaborative activities, and resource-sharing behaviors, posing significant challenges to traditional unsupervised learning methods. Such data often exhibit non-convex distributions, heterogeneity, and noise sensitivity, making conventional clustering approaches insufficient for capturing their intrinsic structural relationships. To ...
Added: May 13, 2026
Velichkov B., Nikolova-Koleva I., Slavcheva M., Shumen: INCOMA Ltd, 2025.
The RANLP 2025 Student Research Workshop (RANLPStud’2025) is a special track of the established international conference Recent Advances in Natural Language Processing (RANLP’2025).
The RANLPStud is being organised for the 9th time and this year is running in parallel with the other tracks of the main RANLP 2025 conference. The target of RANLPStud’25 is to be a ...
Added: May 12, 2026
Stepanyants V., Долгов И. М., Хорошилов Г. С. et al., Труды Института системного программирования РАН 2026 Т. 38 № 3 С. 95–110
Highly automated and connected vehicles are gradually entering the market. Currently, solutions are being proposed that allow these technologies to be used for cooperative driving automation, which can significantly improve traffic safety. Such technologies and their software should be tested to ensure safety before being implemented in real systems. Verification and validation of vehicular control ...
Added: May 12, 2026
Tikhonov R., Efendiev M. T., Fedotenkov A. A., 2026 International Russian Smart Industry Conference (SmartIndustryCon) 2026 P. 542–547
High-fidelity simulation environments like CARLA and ROS are essential for connected and automated vehicle research. They allow researchers to verify and validate new software and technology without the time, financial, and safety overheads of real-world testing. However, their operation requires considerable expertise for creating platform-specific scenario configuration files, which complicates the research workflow. This paper ...
Added: May 11, 2026
Los Alamitos: IEEE Computer Society, 2026.
It is a great pleasure for us to welcome you on behalf of the conference committees, to the 11th IEEE International Conference on Smart Cloud (IEEE SmartCloud 2026), we are glad that we can have this international conference in New York city, USA. Now, please allow us to introduce the IEEE SmartCloud 2026 conference. The ...
Added: May 10, 2026
Avdoshin S. M., Pesotskaya E. Y., Информационные технологии 2026 Т. 32 № 4 С. 185–194
With the rapid advancement of artificial intelligence, and deep learning in particular, models have emerged that are capable of delivering highly accurate predictions. However, the internal logic of such models remains difficult to interpret—an issue of critical importance, especially in domains where the correctness of an algorithm directly affects high-stakes decision-making. One promising avenue for ...
Added: May 8, 2026
Avdoshin S. M., Pesotskaya E. Y., Business Informatics 2026 Vol. 20 No. 1 P. 7–28
The rapid development of artificial intelligence (AI) is accompanied by increasing computational
complexity and decreasing model transparency, which significantly limits its adoption in critical
domains that require a high level of trust, interpretability, and justification of decisions. Under these
conditions, the field of Explainable Artificial Intelligence (XAI) has gained particular importance as it
focuses on approaches and technologies that ...
Added: May 8, 2026
Irina Petrovna Karpova, Pattern Recognition and Image Analysis 2025 Vol. 35 No. 4 P. 1138–1144
A solution to the problem of redistributing agents between groups based on simulating a form of social parasitism in ants known as slave-making is considered. To provide a comprehensive solution, the problem is integrated with a method of orientation based on visual landmarks and a compass, including route memorization and return. The models and mechanisms ...
Added: April 29, 2026
Karpova I. P., Евразиатский энтомологический журнал 2024 Vol. 23 No. 5 P. 276–282
The paper describes a bio-inspired mechanism for orientation and navigation of mobile robots based on navigation elements of some ant species, namely: Camponotus pennsylvanicus (De Geer, 1773), Formica subsericea Say, 1836, F. rufa Linnaeus, 1761, Cataglyphis fortis (Forel, 1902), Melophorus bagoti Lubbock, 1883 and Myrmecia pyriformis Smith, 1858. The path is represented as a sequence ...
Added: December 17, 2024
I.P. Karpova, V. E. Karpov, Automation and Remote Control 2024 Vol. 85 No. 7 P. 641–651
This paper explores the problem of influencing the environment by a group of autonomous robots through the creation and use of road infrastructure. The model object is ant roads (trails). We identify the main aspects of the behavior of different ant species in the process of collective foraging, and actions that together lead to the ...
Added: November 6, 2024