• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Articles
  • A Tutorial on Modelling a Real Office Environment in Gazebo Simulator
  • RU
  • EN
Расширенный поиск
Высшая школа экономики
Национальный исследовательский университет
Priority areas
  • business informatics
  • economics
  • engineering science
  • humanitarian
  • IT and mathematics
  • law
  • management
  • mathematics
  • sociology
  • state and public administration
by year
  • 2028
  • 2027
  • 2026
  • 2025
  • 2024
  • 2023
  • 2022
  • 2021
  • 2020
  • 2019
  • 2018
  • 2017
  • 2016
  • 2015
  • 2014
  • 2013
  • 2012
  • 2011
  • 2010
  • 2009
  • 2008
  • 2007
  • 2006
  • 2005
  • 2004
  • 2003
  • 2002
  • 2001
  • 2000
  • 1999
  • 1998
  • 1997
  • 1996
  • 1995
  • 1994
  • 1993
  • 1992
  • 1991
  • 1990
  • 1989
  • 1988
  • 1987
  • 1986
  • 1985
  • 1984
  • 1983
  • 1982
  • 1981
  • 1980
  • 1979
  • 1978
  • 1977
  • 1976
  • 1975
  • 1974
  • 1973
  • 1972
  • 1971
  • 1970
  • 1969
  • 1968
  • 1967
  • 1966
  • 1965
  • 1964
  • 1963
  • 1958
  • More
Subject
News
September 18, 2026
When Pictures Hinder Understanding: Illustrations May Impede Learning of Abstract Ideas
Illustrations can help remember specific actions but do not always make abstract ideas easier to learn. Researchers from HSE University and Humboldt University compared how people learn from texts with different levels of abstractness. They found that participants remembered illustrations better and performed better on related tasks after reading a multimedia text about yoga asanas than after reading an abstract text about the Nash equilibrium. The findings could help improve the selection of illustrations for educational and informational materials. The study has been published in Learning and Instruction.
September 17, 2026
'I Wish That People Would Place Greater Trust in Science'
When Tatiana Eremicheva chose Fundamental and Computational Linguistics as her field of study, she thought it would be about learning languages. Instead, she discovered it was about helping people. In this interview for the HSE Young Scientists project, she discusses science as a way of understanding the world, billiards as a team-building activity, and why learning to read is not always as easy as it seems.
September 15, 2026
Immunity to Chaos: How Personal Resources Help Us Cope with the Challenges of a Turbulent World
International conflicts, crises and digital overload—the modern world puts our minds to the test every day. Traditional psychology often focuses on the consequences: anxiety, depression, and psychosomatic disorders. But what if we looked at the problem differently—through the lens of the resources that prevent us from breaking down? Psychological immunity is precisely this set of resources. Alena Zolotareva and her group, Psychological Immunity as a Resource for Positive Functioning, are developing an integrative model of this phenomenon, adapting diagnostic tools and preparing for large-scale empirical research. Why do psychologists need to collaborate with medical professionals, and how could their research transform preventive care in clinics and corporations?

 

Have you spotted a typo?
Highlight it, click Ctrl+Enter and send us a message. Thank you for your help!

Publications
  • Books
  • Articles
  • Chapters of books
  • Working papers
  • Report a publication
  • Research at HSE

?

A Tutorial on Modelling a Real Office Environment in Gazebo Simulator

Journal of Robotics, Networking and Artificial Life. 2023. Vol. 10. No. 2. P. 166–169.
Abbyasov B., Gamberov T., Zhukova V., Tsoy T., Martinez-Garcia E., Magid E.

Testing is a crucial aspect of robotic systems development. New robotic concepts should be proven to be safe and effective before running on real robotic platforms in real environments. Robotic simulation allows creating virtual environments and repeating real-world scenarios. 3D modelling has become a standard way for creating on-demand compound digital 3D models with a high level of realism. This research paper presents a guide on prototyping a real office environment in Gazebo simulator. Blender modelling suite is used for creating high-quality 3D models. The validation approach applied to the virtual environment is to perform lidar-based SLAM task for a mobile robot. Human-environment interaction tests were executed using extended Gazebo actors.

Research target: Computer Science Engineering and Technology
Language: English
DOI
Keywords: UGVGazebo3D modellingLidar-based SLAM
Similar publications
On the Efficiency of Bounded Multi-Source Shortest Path Algorithm
Громов Р. С., Нестеров Р.А., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 4 P. 23–44
This paper explores the performance criteria of the newest algorithm for solving the problem of finding shortest paths on a graph from a given vertex – Bounded Multi-Source Shortest Path Algorithm (BM-SSP). The algorithm was published in 2025 and, as its creators claim, it is asymptotically superior to Dijkstra’s deterministic algorithm. However, in the publication devoted ...
Added: September 18, 2026
Робототехника и искусственный интеллект: международные практики и возможности для России, Дальнего Востока и Арктики
Кузнецов М. Е., Полякова М., Лукьянович В. et al., ФАНУ "Востокгосплан", 2026.
Обзор международных практик развития робототехники и искусственного интеллекта и оценка возможностей их применения в условиях России, в первую очередь для Дальнего Востока и Арктической зоны РФ ...
Added: September 16, 2026
Semi-fragile image watermarking: A comprehensive survey, classification, and research directions
Melman A., Evsyutin O., Computer Science Review 2027 Vol. 63 (A) Article 101066
One of the effective means of protecting digital images is invisible watermarking. Different scenarios have different requirements for watermark resistance to post-processing. Robust watermarking schemes are resistant to a wide range of modifications. Fragile watermarking schemes are designed for integrity control and are destroyed by even minor modifications of images. Semi-fragile watermarking schemes combine features ...
Added: September 15, 2026
Автоматизированное формирование журналов событий на основе неструктурированных Интернет-источников для задач анализа процессов
Воронова К. Д., Lyadova L. N., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 4 P. 153–170
Title: Automated Event Logs Generation Based on Unstructured Internet Sources for Process Analysis Tasks Abstract. This paper presents an approach to automated structuring event-related information extracted from unstructured textual Internet sources for process mining tasks. In many practical cases, information on events associated with various processes is not presented in the form of ready-made event logs, but is ...
Added: September 14, 2026
Intelligent Decision Technologies. Proceedings of the 17th KES-IDT 2025 Conference
Springer, 2026.
This book gathers selected papers from the KES-IDT 2025 conference, held in Solin, Croatia, on June 25–27, 2025. The book presents and discusses the latest research results and generates new ideas in the field of intelligent decision-making. The range of topics discussed is classification, prediction, data analysis, big data, data science, decision support, knowledge engineering, ...
Added: September 13, 2026
Интегральная оценка сценариев кибератак на АСУ ТП с применением цифрового двойника и киберполигона
Lebedev O. B., Митяков Е. С., Саенко И. Б. et al., Информация и космос 2026 № 1 С. 53–58
The article presents a methodology for the integrated assessment of cyberattacks on industrial control systems (ICS) using a combination of the Ampire cyber range and a digital twin. The approach is based on calculating five criteria—severity, attacker capabilities, vulnerability, complexity, and defense effectiveness—that form an integrated threat index. Testing across three scenarios confirmed the index's ...
Added: September 13, 2026
Децентрализованное управление группой автономных подвижных объектов при формировании траектории движения
Lebedev O. B., Лебедев Б. К., Бесхмельнов М. И., Известия ЮФУ. Технические науки 2024 № 2(242) С. 177–190
This article examines algorithms for generating motion trajectories for unmanned aerial vehicles (UAVs) during search-and-rescue and emergency response operations. It describes methods and algorithms for controlling the movement of a UAV group in various formations—such as line, rank, column, and during turns. Control is achieved through alternative collective adaptation algorithms based on principles of collective ...
Added: September 13, 2026
Управление передвижением группы БПЛА с соблюдением геометрической структуры строя на основе альтернативной коллективной адаптации
Lebedev O. B., Котов Д. В., Известия ЮФУ. Технические науки 2024 № 1(237) С. 155–167
The primary approach to solving motion planning and control problems involves the use of intelligent technologies. These technologies are applied to define and adjust control objectives and action programs, as well as to formulate control algorithms under conditions of uncertainty—stemming from various factors—across actuator elements and the motion control, planning, and behavioral subsystems. This paper ...
Added: September 13, 2026
Гибридный алгоритм оптимизации на основе объединения моделей роевого интеллекта: роя хромосом и пчел
Lebedev O. B., Лебедев Б. К., Ганжур М. А., Информатизация и связь 2023 № 2 С. 80–84
A hybrid algorithm has been developed to solve the VLSI component placement problem by combining procedures based on bee colony behavior and a chromosome swarm. The optimization criterion is based on estimates of the number of nets crossing specific lines within the routing area. A modified chromosome swarm paradigm is described; unlike the canonical method, ...
Added: September 13, 2026
МОДЕЛИРОВАНИЕ ПОСТРОЕНИЯ ТРАЕКТОРИИ ПОДВИЖНОГО ОБЪЕКТА НА ОСНОВЕ МЕТОДОВ МНОГОКРИТЕРИАЛЬНОЙ ОПТИМИЗАЦИИ
Lebedev O. B., Лебедев Б. К., Бесхмельнов М. И., Вестник Тверского государственного технического университета 2025 № 3(27) С. 103–119
The article presents a detailed analysis of a hybrid path-planning algorithm designed for navigation in a two-dimensional space, accounting for partial uncertainty regarding terrain information. The algorithm operates in stages and is divided into two levels. At the first level, the object's local visibility zone is established, and the corresponding region on the map is ...
Added: September 12, 2026
ГИБРИДНЫЙ МЕТОД ПЛАНИРОВАНИЯ КОНФИГУРАЦИИ МАРШРУТА НА КАРТЕ МЕСТНОСТИ В УСЛОВИЯХ ЧАСТИЧНОЙ НЕОПРЕДЕЛЕННОСТИ
Lebedev O. B., Лебедев Б. К., Бесхмельнов М. И., Известия ЮФУ. Технические науки 2025 Т. 2(244) С. 68–82
This paper describes a hybrid situational trajectory planning algorithm for 2D space operating under conditions of partial uncertainty. Based on the integration of wave-propagation and ant colony optimization algorithms, it enables the real-time generation of minimum-length trajectories while simultaneously optimizing other path quality criteria. The processes of generating a trajectory segment and moving the object ...
Added: September 12, 2026
OPTIMIZATION BY THE SWARM OF TRANSFORMING CHROMOSOMES METHOD
Lebedev O. B., Beskhielnov M. I., OPTIMIZATION BY THE SWARM OF TRANSFORMING CHROMOSOMES METHOD 2024 Vol. 34 No. 3 P. 652–658
A new strategy for finding effective solutions based on modification and hybridization of the canonical representations of the particle swarm algorithm is proposed. A paradigm of a swarm of transforming chromosomes is described, making it possible to represent solutions in the affine space of chromosomes with integer parameter values. The mechanisms of chromosome transformation in ...
Added: September 12, 2026
Использование методов машинного обучения для повышения эффективности систем противодействия многоэтапных кибератак
Lebedev O. B., Левченко Д. Д., Черкасов Р. И., Инженерный вестник Дона 2026 № 2(134) Статья 7
This article analyzes the impact of artificial intelligence (AI) and machine learning technologies on the development and transformation of cyberthreats and the creation of highly effective cyberdefense systems. Key trends in AI evolution are discussed, including data-, model-, application-, and human-centric approaches, and their role in shaping both defensive and offensive capabilities. It is shown ...
Added: September 12, 2026
Метод кодирования голосового источника турбулентного типа на основе гибридной модели линейного предсказания
Савченко В. В., Savchenko L., Измерительная техника 2026 Т. 75 № 3 С. 105–113
Within the framework of a current area of research in the field of speech acoustics – non-invasive analysis of speech production processes – the acute problem of insufficient accuracy of parametric methods for coding a turbulent (noise) type voice source is considered. In order to overcome this problem, a method for coding a sound source with increased ...
Added: September 11, 2026
Применение технологий компьютерного зрения в системах обработки визуальной информации
Lebedev O. B., Черкасов Р. И., Известия ЮФУ. Технические науки 2025 № 5(247) С. 254–276
This paper considers the application of artificial intelligence technologies, in particular computer vision, in visual information processing systems. A comprehensive analysis of neural network approaches to solving computer vision problems is carried out, including systematization of key types of problems: image classification, object detection and semantic segmentation. The architectural principles of convolutional neural networks are ...
Added: September 10, 2026
Dynamic Formation of Robot Movement Route in Nondeterministic Environment with Bypassing Stationary and Nonstationary Obstacles
Lebedev O. B., Beskhmelnov M. I., PATTERN RECOGNITION AND IMAGE ANALYSIS. ADVANCES IN MATHEMATICAL THEORY AND APPLICATIONS 2024 Vol. 34 No. 3 P. 543–548
The work describes a hybrid algorithm for the dynamic formation of a robot’s movement route in nondeterministic environments with bypassing stationary and nonstationary obstacles for two-dimensional space, based on the integration of wave and ant algorithms, which makes it possible to build trajectories of minimum length in real time with simultaneous optimization of a number ...
Added: September 10, 2026
Методы сбора данных средствами БПЛА при мониторинге труднодоступной местности
Lebedev O. B., Лебедев Б. К., Известия ЮФУ. Технические науки 2026 № 2(250) С. 151–173
This paper proposes a methodology and method for constructing a model of the study area as a finite set of zones (sections) covering it, characterized by the fact that all sections are rectangular. The paper examines methods for forming a minimal set of sections on a large field that completely cover the accessible territory surveyed ...
Added: September 10, 2026
Модель глубокого обучения для автоматизированной интерпретации медицинских электрофизиологических данных
Lebedev O. B., Шмелева А. Г., Гежа Н. С., Информатика и автоматизация (Труды СПИИРАН) 2026 Т. 25 № 3 С. 720–750
This paper describes the development of a neural network model for automated analysis of medical data in electrophysiology based on deep learning methods. The relevance of this work stems from the growing need to improve the objectivity, speed, and accuracy of processing complex spatiotemporal signals, such as ECG or EEG. Convolutional neural networks (CNNs), which ...
Added: September 10, 2026
What Do Text-to-Image Models Know About the Languages of the World?
Фирсанова В. И., Journal of Mathematical Sciences 2024 Vol. 285 No. 1 P. 112–125
Text-to-image models use user-generated prompts to produce images. Such text-to-image models as DALL-E 2, Imagen, Stable Diffusion, and Midjourney can generate photorealistic or similar to human-drawn images. Apart from imitating human art, large text-to-image models have learned to produce combinations of pixels reminiscent of captions in natural languages. For example, a generated image might contain ...
Added: September 9, 2026
Human Tracking Algorithm Evaluation with Digital Human Models in Gazebo
Gamberov T., Safin R., Chebotareva E. et al., , in: 2025 9th International Conference on Information, Control, and Communication Technologies (ICCT-2025).: IEEE, 2025. P. 1–5.
Digital human models (DHM) for virtual environments allow a cost-effective and reproducible evaluation of computer vision algorithms that are employed in robotics, e.g., human detection, tracking and following. Yet, many popular robotics simulators do not achieve a reasonable level of realism and diversity required to rigorously test such algorithms under varying conditions. This paper introduces ...
Added: June 23, 2026
Aerokinesis: An IoT-Based Vision-Driven Gesture Control System for Quadcopter Navigation Using Deep Learning and ROS2
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
A Tool for Mass Generation of Random Step Environment Models with User-Defined Landscape Features
Gabdrahmanov R., Tsoy T., Martinez-Garcia E. et al., , in: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - (Volume 1) ICINCO 2024.: SciTePress, 2024. P. 511–518.
Computer simulations are growing in popularity in robotics research due to their near-zero cost of error and lower labor intensity. One of necessary components of a simulation, in addition to a robot model, is a model of a world in which the robot operates. While it is always possible to construct a world model manually, ...
Added: March 17, 2026
Modeling Sunlight in Gazebo for Vision-Based Applications Under Varying Light Conditions
Sultanov R., Safin R., Martinez-Garcia E. et al., , in: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - (Volume 1) ICINCO 2024.: SciTePress, 2024. P. 519–526.
Vision is one of the well-researched sensing abilities of robots. However, applying vision-based algorithms can be challenging when used in different environmental conditions. One such challenge in vision-based localization is dynamic lighting conditions. In this paper, we present a new Gazebo plugin that enables realistic illumination changes depending on a current Sun's position. A plugin's ...
Added: March 17, 2026
UAV Swarm Control with Operator-Leader-Followers Approach
Vaschenko A., Frolov O., Safin R. et al., , in: 16th International Conference on Intelligent Systems, INTELS 2024, Moscow, Russia, December 2–4, 2024, Proceedings, Part I. Intelligent Systems. (CCIS, volume 2603).: Springer, 2025. P. 311–324.
Swarm robotics is a complex domain within multi-robot systems that encompasses formation control, movement control, and interUAV communication. Coordinates task execution requires effctive swarm control, which relies on robust motion control algorithms and reliable data exchange mechanisms. In this work, we propose an operator-leaderfollowers approach for managing UAV swarms. It comprises the following components: centralized swarm control utilizing ...
Added: March 17, 2026
  • About
  • About
  • Key Figures & Facts
  • Sustainability at HSE University
  • Faculties & Departments
  • International Partnerships
  • Faculty & Staff
  • HSE Buildings
  • HSE University for Persons with Disabilities
  • Public Enquiries
  • Studies
  • Admissions
  • Programme Catalogue
  • Undergraduate
  • Graduate
  • Exchange Programmes
  • Summer University
  • Summer Schools
  • Semester in Moscow
  • Business Internship
  • Research
  • International Laboratories
  • Research Centres
  • Research Projects
  • Monitoring Studies
  • Conferences & Seminars
  • Academic Jobs
  • Yasin (April) International Academic Conference on Economic and Social Development
  • Media & Resources
  • Publications by staff
  • HSE Journals
  • Publishing House
  • iq.hse.ru: commentary by HSE experts
  • Library
  • Economic & Social Data Archive
  • Video
  • HSE Repository of Socio-Economic Information
  • HSE1993–2026
  • Contacts
  • Copyright
  • Privacy Policy
  • Site Map
Edit