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Управление передвижением группы БПЛА с соблюдением геометрической структуры строя на основе альтернативной коллективной адаптации
Известия ЮФУ. Технические науки. 2024. № 1(237). С. 155–167.
Lebedev O. B., Котов Д. В.
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 addresses a pressing issue in mathematical modeling and control theory: the decentralized control of a multi-agent system comprising agents that model autonomous robot behavior, specifically to facilitate the movement of a robot group deployed in line and convoy formations. The study reviews research on controlling groups of unmanned aerial vehicles (UAVs), identifies the types of tasks such aerial robot groups can perform, and outlines key control strategies and their specific characteristics. General principles required to develop a detailed group control algorithm are established. Each robot must navigate autonomously—without GPS—using signals from its own camera or lidar (active rangefinder) to detect obstacles, plan optimal paths, and make decisions aimed at achieving the objective and completing the mission. Control is implemented via an alternative collective adaptation algorithm based on concepts of collective behavior among the adaptive entities. To realize the adaptation mechanism, adaptation automata—which model the behavior of the adaptive entities within the environment—are mapped to the parameters of the adaptation vector. A structure for the alternative collective adaptation process has been developed to govern the group's movement in formation.
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
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
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
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
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
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
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
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
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
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
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
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
Фирсанова В. И., Человек: образ и сущность. Гуманитарные аспекты 2025 Vol. 2 No. 62 P. 203–214
Abstract. The paper highlights prompt engineering in academic setting to reduce plagiarism and increase students' interest. The research problem is the lack of a unified methodology for using artificial intelligence in education. The paper aims to create a generative artificial intelligence user interface, the Virtual Teaching Assistant. Teachers were interviewed, the first collection of presets ...
Added: September 9, 2026
Вохминцев И. В., Вестник международных организаций: образование, наука, новая экономика 2026 Т. 21 № 2
The EAEU and the CSTO are Russia’s principal regional international organisations. Understanding, assessing, and analysing the foreign-policy positions of the countries that belong to them is a matter of the state’s national interests. This determines the purpose of the study: to identify the level and the form of cohesion in the voting of EAEU and ...
Added: September 7, 2026
Alshanskaia E., Portnova G., Liaukovich K. et al., Frontiers in Neuroscience 2024 Vol. 18
Added: September 7, 2026
Зуенко Д. О., Trofimova E., Хайдарова И., IEEE Access 2026 Vol. 14 P. 121339–121357
Oil spill segmentation in Synthetic Aperture Radar (SAR) images is limited by noisy annotations in publicly available datasets and by architectural choices that interact with label quality in opposing directions. First, we introduce a manually refined version of the Deep-SAR Oil Spill (SOS) dataset, in which 36.25% of masks are corrected for false positives, missed ...
Added: September 7, 2026
Kelbert M., Statistics 2026 Vol. 60
We present variational representations for the weighted divergencies
and exponential error function, and discuss implications for the
statistical inference and entropic optimal transport. ...
Added: September 7, 2026
Неверов В. Д., Красавин А. В., Vagov A. et al., Physical Review B: Condensed Matter and Materials Physics 2026 Vol. 113 P. 1–6
We develop a neural network approach to solve the self-consistent Bogoliubov-de Gennes equations in strongly disordered s-wave superconductors. The method accurately reproduces inhomogeneous gap distributions and generalizes to system sizes far larger than those used in training. It reduces computational scaling from O(N6 ) to O(N2), enabling quantitative analysis of percolation phenomena and the superconductor-insulator ...
Added: September 5, 2026
Sheshukova M., Durmus A., Khusainov M. et al., Statistics 2026 P. 1–25
In this paper, we consider the problem of Gaussian approximation for the online linear regression task. We derive the corresponding rates for the setting of a constant stepsize and study the explicit dependence of the convergence rate on the problem dimension d and quantities related to the design matrix. When the number of iterations n is known in advance, ...
Added: September 4, 2026
Proceedings of Machine Learning Research , 2026.
Added: September 4, 2026
Khodadoust J., Kulikova S., Khodadoust F., Biomedical Signal Processing and Control 2027 Vol. 129 P. 111284–111284
Acute ischemic stroke (AIS) analysis from two-dimensional (2D) clinical imaging is hindered by uncontrolled slice tilt and geometric inconsistencies that violate the assumptions of pose-agnostic deep learning (DL) models. This paper proposes a unified geometry-aware, frequency-domain framework for tilted slice localization and ischemic stroke segmentation that explicitly decouples pose estimation from lesion analysis. The method ...
Added: September 2, 2026
IEEE, 2026.
On behalf of the Organizing Committee, it is my great pleasure to extend a warm
welcome to all participants of the Fourth International IEEE Conference on
Distributed Computing and High-Performance Computing (DCHPC 2026), held
in Tehran from May 10–11, 2026. This conference is jointly organized by the
School of Computer Science at the Institute for Research in Fundamental
Sciences (IPM) ...
Added: September 2, 2026
David J. L., Leonid Grinin, Korotayev A., Springer, 2026.
Complexity is widely acknowledged as a foundational and pivotal concept in Big History, offering a unifying lens through which to examine the emergence and development of systems—from particles and galaxies to life, civilizations, and beyond. Yet, despite its centrality, major gaps remain in how we define, measure, and interpret complexity across different phases and scales. ...
Added: August 7, 2026
Князева С. В., Ершов Д. В., Никитина А. Д. et al., Современные проблемы дистанционного зондирования Земли из космоса 2025 Т. 22 № 6 С. 383–386
This brief report summarizes the key outcomes of the IX All-Russia (with International Participation)
Scientific Conference “Aerospace Methods and Geoinformation Technologies in Forest Science,
Forestry and Ecology”. The conference was held April 15–17, 2025, in Moscow at Isaev Center for
Forest Ecology and Productivity RAS with organizational support from Space Research Institute RAS.
The conference was attended about 130 ...
Added: June 24, 2026