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Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments
P. 49–56.
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation is based on ROS framework. Custom implementation of EKF-based map building algorithm is used to solve marker detection and map building task.
Roman M., Eryomin A., Tsoy T. et al., , in: ИНФОРМАЦИОННЫЕ ТЕХНОЛОГИИ И ТЕХНИЧЕСКИЕ СРЕДСТВА УПРАВЛЕНИЯ (ICCT-2024).: М.: Институт проблем управления им. В.А. Трапезникова РАН, 2024. P. 184–186.
The problem of robot navigation in unknown environments can be addressed without using a ready map or constructing a new one. The Bug family algorithms focus on sensor odometry data. The CautiousBug algorithm stands out from the rest of the algorithms by a considerable property: as its name implies, it does not make risky decisions ...
Added: April 22, 2026
Roman M., Eryomin A., Tsoy T. et al., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. Ch. 51 P. 1–4.
In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the
Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can ...
Added: May 28, 2025
Kirill Muravyev, Yakovlev K., IEEE Access 2023 Vol. 11 P. 132683–132698
Mapping is one of the key components of mobile robot navigation. Representing a map as a topological structure is suitable for fast path planning and does not require high positioning precision or high computational resources, which is particularly useful in large environments. In recent years, numerous methods of topological graph building have emerged. Most of ...
Added: March 19, 2024
Safarova L., Abbyasov B., Tsoy T. et al., , in: 7th International Conference, ICR 2022, Fuzhou, China, December 16-18, 2022, Proceedings.: Springer, 2022. P. 81–92.
Added: January 31, 2023
Sawada T., Mendoza Arvizu A., Farshchi M. et al., i-Perception 2022 Vol. 13 No. 1 P. 1–4
The visual system can recover 3D information from many different types of visual information, e.g., contour-drawings. How well can people navigate in a real dynamic environment with contour-drawings? This question was addressed by developing an AR-device that could show a contour-drawing of a real scene in an immersive manner and by conducting an observational field ...
Added: February 2, 2022
Zakiev A., Lavrenov R., Magid E. et al., 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 ...
Added: October 10, 2021
Bokovoy A., Muravyev K., Yakovlev K., , in: Artificial Intelligence. RCAI 2020.: Switzerland: Springer, 2020. P. 46–60.
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of constructing accurate-enough maps that enable a mobile robot to autonomously navigate an unknown environment. In this work, we are interested in an ...
Added: November 2, 2020
Springer, 2020.
The book presents a very small sample of research work undertaken by the
researchers of Russian Federation in the field of signal processing theories, algorithms
and system control. The book is directed to the PhD students, professors, researchers and software
developers working in the areas of digital video processing and computer vision
technologies. We wish to express our gratitude ...
Added: August 25, 2020
Bokovoy A., Yakovlev K., , in: Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings.: Springer, 2018. P. 23–33.
The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud maps, obtained by feature-based vSLAM algorithms. Map post-processing is split into 2 major steps: (1) noise and outlier removal and (2) ...
Added: August 13, 2019
Кринкин К. В., Huletski A., Kartashov D., , in: EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.: [б.и.], 2017. P. 6770–6776.
— A truly autonomous mobile robot have to solve the SLAM problem (i.e. simultaneous map building and pose estimation) in order to navigate in an unknown environment. Unfortunately, a universal solution for the problem hasn’t been proposed yet. The tinySLAM algorithm that has a compact and clear code was designed to solve SLAM in an ...
Added: February 4, 2019
[б.и.], 2017.
Added: February 4, 2019
Filatov A., Filatov A., Кринкин К. В. et al., , in: Proceedings of the 21st Conference of Open Innovations Association FRUCT, University of Helsinki, Helsinki, Finland.: [б.и.], 2017. P. 120–126.
—SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem requires prior knowledge about advantages and disadvantages of each algorithm. This paper presents the approach for comparison ...
Added: February 4, 2019
Bokovoy A., Yakovlev K., , in: Analysis of Images, Social Networks and Texts. 6th International Conference, 2017, Revised Selected PapersVol. 10716.: Cham: Springer, 2018. P. 210–220.
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure ...
Added: September 28, 2018
Yakovlev K., Makarov D., Scientific and Technical Information Processing 2015 Vol. 42 No. 5 P. 347–358
In the article we solve path planning task for an agent being multirotor unmanned aerial vehicle (multicopter). We propose an approach of estimating path geometry constraints based on UAV flight dynamics model and control constraints. Than we introduce a new path finding method which takes into consideration those geometry constraints and study this method both ...
Added: July 17, 2017
Maode M., Chengdu: Science and Engineering Institute, 2015.
Added: March 17, 2016
Emel’yanov S., Makarov D., Panov A. I. et al., Cognitive Systems Research 2016 Vol. 39 P. 58–72
Extensive use of unmanned aerial vehicles (UAVs) in recent years has induced the rapid growth of research areas related to UAV production. Among these, the design of control systems capable of automating a wide range of UAV activities is one of the most actively explored and evolving. Currently, researchers and developers are interested in designing ...
Added: February 9, 2016