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Partially unknown environment exploration algorithm for a mobile robot
Journal of Advanced Research in Dynamical and Control Systems. 2019. Vol. 11. No. 8. P. 1743–1753.
This paper introduces a new indoor environment exploration method, which is designed to consider robot sensory perception constraints and indoor spaces predictable structure. Our new method is compared with a greedy approach exploration. The two algorithms were implemented and tested in simulation and in real-world experiments with a Russian Servosila Engineer crawler rescue robot. Robot Operating System (ROS) framework was used both for simulations in Gazebo environment and for the real robot control. Our method demonstrated better results for large space exploration in simulations as well as within small indoor environment exploration experiments
М.: Институт проблем управления им. В.А. Трапезникова РАН, 2024.
В сборник вошли материалы VIII Международной научной конференции «Информационные технологии и технические средства управления» (ICCT-2024). На конференции были рассмотрены вопросы, касающиеся перспектив развития научного приборостроения в телекоммуникационных и управляющих системах, биомедицинской информатики, аппаратного и программного обеспечения информационнокоммуникационных систем, надежности, диагностики и неразрушающего контроля, систем управления и автоматизации, цифровых экосистем, управления производством и логистикой, методов математического ...
Added: May 27, 2026
Degtyarev A., Bakhurin S., Yudin N., DSPA 2026 P. 1–6
This paper investigates one possible solution to the problem of self-interference cancellation (SIC) arising in the design of in-band full-duplex (IBFD) communication systems. Self-interference cancellation is performed in the digital domain using multilayer nonlinear models adapted via gradient-based optimization. The presence of local minima and saddle points during the adaptation of multilayer models limits the ...
Added: May 26, 2026
Androsov I., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 3 P. 87–114
This paper examines echo state networks (ESNs), one of the most prevalent approaches to
implementing reservoir computing. An ESN consists of a recurrent neural network with fixed (untrained)
weights and a readout layer that is typically linear and trainable. This approach enables the creation of energyefficient and computationally efficient neural networks capable of real-time learning. However, since ...
Added: May 26, 2026
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
Plotnikov S., Альманах современной метрологии 2024 № 2 (38) С. 140–149
The results of the analysis of data collected by the method of expert questioning of Russian scientific metrological institutes’ employees, as well as buyers of measuring instruments, are presented. ...
Added: May 21, 2026
Апрелев А. В., Пивоварова Н. И., Plotnikov S. et al., Альманах современной метрологии 2022 № 2(30) С. 94–101
The results of the analysis of data from the Federal Information Fund for Ensuring the Uniformity of Measurements in terms of oscilloscopes are presented. ...
Added: May 21, 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
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
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 Article 31
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
Faizullin R., Imamov N., Tsoy T. et al., , in: 10th International Conference, ICR 2025, Hanoi, Vietnam, November 10–13, 2025, Proceedings, Part II. Interactive Collaborative Robotics. (LNCS, volume 16304).: Springer, 2026. P. 385–398.
Autonomous agricultural vehicles operating under the Controlled Traffic Farming (CTF) paradigm face complex routing challenges when minimizing soil compaction, total mission time, and station placement under battery constraints. This paper introduces Multi-Objective Coordinated Autonomous Routing and Placement with Fixed Lanes (MO-CARP-FL), a novel multi-objective evolutionary algorithm designed to optimize the coordinated routing of homogeneous autonomous ...
Added: March 17, 2026
Faizullin R., Imamov N., Tsoy T. et al., , in: Proceedings of the Fifth International Conference on Agriculture Digitalization and Organic Production (ADOP 2025), Volume 1. Robotics in Agriculture. (SIST, volume 453).: Springer, 2026. P. 25 – 34.
This article considers a dual problem of optimizing field coverage while minimizing a soil compaction and managing energy constraints of agricultural robots. The soil compaction in precision agriculture is a major challenge, as mobile robots are becoming increasingly common in field operations. A proposed optimization combines a soil compaction risk assessment with energy-efficient trajectory planning ...
Added: March 17, 2026
Gataullin R., Abbyasov B., Zhukova V. et al., , in: 6th International Conference, CIT&DS 2025, Volgograd, Russia, September 22–25, 2025, Proceedings. Creativity in Intelligent Technologies and Data Science. (CCIS, volume 2803).: Cham: Springer, 2025. P. 477 – 491.
Mobile robots are increasingly used to automate repetitive and labor-intensive tasks in environments such as hospitals, warehouses, offices, and manufacturing facilities. When working together, multiple robots can achieve greater efficiency by sharing workloads and coordinating complex tasks, which enables faster completion of large-scale operations. Managing such teams of robots, however, requires an intuitive system for ...
Added: March 17, 2026
Roslavtsev M., Eryomin A., Safin R. et al., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. P. 1–5.
Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of ...
Added: November 25, 2025