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UAV Swarm Formation Control for Outdoor Surveillance Tasks
P. 364–372.
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
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
Faizullin R., Mustafin M., Svinin M. et al., , in: 2025 9th International Conference on Information, Control, and Communication Technologies (ICCT-2025).: IEEE, 2025. P. 1–4.
This work addresses the problem of energy-constrained coverage of agricultural fields using a fleet of identical unmanned aerial vehicles (UAVs). Each UAV must complete a spraying mission over a designated area, subject to limited battery capacity. To ensure energy feasibility, static charging stations are deployed along the field’s perimeter. The agricultural field is first partitioned ...
Added: June 23, 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
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
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
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
Frolov O. V., Safin R. N., Tsoy T. G. et al., Ученые записки Казанского университета. Серия: Физико-математические науки 2025 Vol. 167 No. 4 P. 786–805
Advancements in robotics have expanded a use of unmanned aerial vehicle (UAV) swarms in
critical tasks such as disaster response, including search and rescue operations during floods, hurricanes,
landsliding, and earthquakes. Swarm formation control stands as a critical challenge in UAV swarm
control. In this article, a simple and resource-efficient method for addressing collisions within swarm
formations during outdoor ...
Added: March 17, 2026
Myzina A., Safin R., Tsoy T. et al., , in: Proceedings Volume 14073, Fifth International Conference on Artificial Intelligence, Automation, and Algorithms (AI2A 2025).: [б.и.], 2026.
Floods are among the most destructive natural disasters, causing human casualties and severe economic damage. Effective monitoring of flooded areas requires automated systems capable of real-time perception and decision-making. This paper proposes a water surface segmentation model based on the U-Net architecture, trained entirely on synthetic data generated in the Gazebo simulator with variations in ...
Added: March 17, 2026
Gamberov T., Safin R., 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. 175–187.
The agricultural sector is undergoing a digital transformation due to modern automation, robotics, sensing, and simulation technologies. This research explores a use of digital human models (DHMs) in the Gazebo virtual environment to enhance agricultural workflows, improve human-robot interaction, and ensure safety. We propose a framework that models typical agricultural scenarios, such as field mapping, ...
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