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Знак-ориентированный механизм локального взаимодействия между роботами
С. 504–514.
Karpov V. E.
Dergachev S., Yakovlev K., , in: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).: IEEE, 2025. P. 12456–12463.
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for both kinematic constraints, sensing and action execution noise. In this paper, we propose a novel approach that integrates the Model Predictive Path Integral (MPPI) with a probabilistic adaptation of Optimal Reciprocal Collision ...
Added: March 2, 2026
Dergachev S., Yakovlev K., В кн.: Сборник трудов XIV Всероссийского совещания по проблемам управления ВСПУ-2024.: Институт проблем управления им. В.А. Трапезникова РАН, 2024. С. 1630–1634.
Added: September 26, 2024
Dergachev S., Yakovlev K., , in: ECAI 2024. 27th European Conference on Artificial Intelligence, October 19 – 24 October 2024, Santiago de Compostela, Spain – Including 13th Conference on Prestigious Applications of Intelligent Systems (PAIS 2024).: IOS Press, 2024. P. 4344–4351.
Added: September 11, 2024
Dergachev S., Yakovlev K., , in: Interactive Collaborative Robotics. 9th International Conference, ICR 2024, Mexico City, Mexico, October 14–18, 2024, Proceedings.: Cham: Springer, 2024. P. 186–200.
Added: September 11, 2024
Cham: Springer, 2024.
This book constitutes the refereed proceedings of the 9th International Conference on Interactive Collaborative Robotics, ICR 2024, held in Mexico City, Mexico, during October 14–18, 2024.
The 32 full papers presented here were carefully reviewed and selected from 62 submissions. These papers focus on the challenges, trends and applications of Human-Robot collaboration in various domains such as Industry, Healthcare, Society ...
Added: September 11, 2024
Dergachev S., Yakovlev K., PeerJ Computer Science 2024 Vol. 10 Article e2220
Collision avoidance is a crucial component of any decentralized multi-agent navigation system. Currently, most of the existing multi-agent collision-avoidance methods either do not take into account the kinematic constraints of the agents (i.e., they assume that an agent might change the direction of movement instantaneously) or are tailored to specific kinematic motion models (e.g., car-like ...
Added: August 28, 2024
Karpova I. P., В кн.: Интегрированные модели и мягкие вычисления в искусственном интеллекте. Сб. научных трудов ХII Международной научно-технической конференции (Коломна, 14-17 мая 2024 г.).Т. 1.: Смоленск: Универсум, 2024. С. 359–370.
The paper considers the solution of the problem of redistribution of agents between groups based on imitation of such a form of social parasitism in ants as slavery. The redistribution method is integrated with the method of orientation by visual landmarks and compass with route memorization and return. It has been shown that even technical ...
Added: June 1, 2024
Karpova I. P., Karpov V. E., Автоматика и телемеханика 2024 № 7 С. 113–130
This paper explores the problem of influencing the environment by a group of autonomous robots through the creation and use of road infrastructure. The model object is ant roads (trails). We identify the main aspects of the behavior of different ant species in the process of collective foraging, and actions that together lead to the ...
Added: June 1, 2024
Karpova I. P., Управление большими системами: сборник трудов 2022 № 96 С. 69–117
The paper describes a bioinspired method of mobile robots navigation, similar to the navigation mechanism of social insects. The model species is the red forest ant Formica rufa. The scout red forest ant remembers the route to food and can transmit information about the food location to foraging ants. Foragers can walk to the food ...
Added: December 8, 2022
Springer, 2021.
This book constitutes the proceedings of the 6th International Conference on Interactive Collaborative Robotics, ICR 2021, held in St. Petersburg, Russia, in October 2021. The 19 papers presented were carefully reviewed and selected from 40 submissions. Challenges of human-robot interaction, robot control and behavior in social robotics and collaborative robotics, as well as applied robotic and ...
Added: October 21, 2021
Springer, 2020.
The 5th International Conference on Interactive Collaborative Robotics (ICR 2020) was organized as a satellite event of the 22nd International Conference on Speech and Computer (SPECOM 2020) by the St. Petersburg Institute for Informatics andAutomation of the Russian Academy of Sciences (SPIIRAS, St. Petersburg, Russia)and the Technical University of Munich (TUM, Munich, Germany). In July ...
Added: April 2, 2021
Irina Karpova, , in: Artificial Intelligence. 17th Russian Conference, RCAI 2019, Ulyanovsk, Russia, October 21–25, 2019, ProceedingsVol. 1093.: Springer, 2019. P. 17–29.
The paper refers to the research direction in which models of social behavior are the methodological basis for the functioning of robot (animat) groups. The purpose of this study is to implement a complex regulatory behavior of animat groups using previously created models and methods. The applicability of this approach is demonstrated by the task ...
Added: October 16, 2019
Karpova I. P., Karpov V. E., Управление большими системами: сборник трудов 2018 № 76 С. 173–218
Some possible ways of implementing aggression as one of the mechanisms for the social behavior formation in robots groups are discussed in this work. Aggression is considered as a way to resolve conflicts over resources. The features of the aggressive behavior of eusocial insects (ants) are used as basic. A reactive model of behavior was ...
Added: December 24, 2018
Карпов В. Э., Karpova I. P., Кулинич А. А., М.: ЛЕНАНД, 2019.
Настоящая монография является первой в нашей стране попыткой систематического изложения принципов построения социумов роботов, то есть использования моделей и методов социального поведения применительно к системам групповой робототехники. В книге обсуждаются вопросы методологии создания сообществ искусственных агентов-роботов, описываются базовые архитектуры индивидов, способных к социализации, приводятся модели организации межагентного взаимодействия, в том числе — принципы формирования и функционирования команд, коалиций, стай роботов ...
Added: August 28, 2018
Karpova I. P., Информационные технологии 2018 Т. 24 № 3 С. 194–201
This paper discusses a problem of distributed data processing in mobile robot’s group. The robot’s group is typified as a static swarm. Static swarm is a model, which is characterized by the absence of a control сenter and is represented by the network with fixed topology at some time interval which consists of locally interacting ...
Added: February 8, 2018
Irina Karpova, , in: Biologically Inspired Cognitive Architectures (BICA) for Young Scientists.: Springer, 2017. P. 78–84.
One of the actively developing approaches of group robotics systems creation is the use of social behavior models. Aggressive behavior is one of the underlying mechanisms forming social behavior. In this paper, the application of aggressive behavior concepts is considered by analogy with animal aggressive behavior that can be used for solving tasks of group ...
Added: December 6, 2017
Karpova I. P., В кн.: Пятнадцатая национальная конференция по искусственному интеллекту с международным участием КИИ-2016 (3-7 октября 2016г., г.Смоленск, Россия): Труды конференцииТ. 1.: Смоленск: Универсум, 2016. С. 169–178.
One of the actively developed approaches to the issues of management in the group robotics is application of models of social behavior in groups of robots. In this paper it is offered to use this approach to fulfill the tasks of foraging. The basis of the proposed method is formed by the principles of memorizing ...
Added: March 13, 2017
Karpova I. P., Мехатроника, автоматизация, управление 2017 Т. 18 № 2 С. 81–89
One of the widespread approaches to the issues of control in the group robotics is application of the social behavior models in the groups of robots. In this paper the author proposes to use this approach to fulfill the tasks of foraging. As a role model a Formicidae ant is proposed. This task is considered ...
Added: February 12, 2017
Karpova I. P., Мехатроника, автоматизация, управление 2016 № 2 С. 94–101
This paper discusses local communication issues in a group of homogeneous robots for the purpose of decentralizing group management. A short review is presented of existing research in this area, which is mainly devoted to solutions for individual problems in the field. The possibility is considered to program the messages robots exchange within a group ...
Added: December 20, 2015
Karpova I. P., В кн.: Интегрированные модели и мягкие вычисления в искусственном интеллекте. Сб. научных трудов VIII-й Международной научно-технической конференции (Коломна, 18-20 мая 2015 г.)Т. 2.: М.: Физматлит, 2015. С. 549–558.
В работе рассмотрена возможность использования моделей социального поведения животных для управления в группе роботов и представления сообщений, которыми обмениваются роботы в группе, в виде нечетких (аналоговых) сигналов. Передача сигналов эмулировалась с помощью дискретного ИК-канала.
Результаты экспериментов показали, что использование нечетких сигналов делает поведение робота более вариабельным и позволяет обеспечить устойчивое функционирование группы меньшими энергетическими затратами на ...
Added: May 25, 2015
Valery Karpov, Irina Karpova, Biologically Inspired Cognitive Architectures 2015 No. 12 P. 54–64
Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It was shown that transition from a swarm to a collective of robots with hierarchical organisation is possible using exclusively local interaction. The local re-voting algorithm is central to the procedure for choice of leader while distribution of ...
Added: April 20, 2015
Karpov V. E., Karpova I. P., Procedia Engineering 2015 Vol. 100 P. 1459–1468
Work solutions are proposed for problems of leader definition and role distribution in homogeneous groups of robots. It is shown that transition from a swarm to a collective of robots with hierarchical organization is possible using exclusively local interaction. The local revoting algorithm is central to the procedure for choice of leader while redistribution of roles can ...
Added: March 14, 2015
Vorobiev V., В кн.: Интеллектуальные системы и технологии: современное состояние и перспективы. Сборник научных трудов II-ой Международной летней школы-семинара по искусственному интеллекту для студентов, аспирантов и молодых ученых (Тверь – Протасово, 1-5 июля 2013 г.).: Тверь: Тверской государственный технический университет, 2013. С. 127–141.
Chapter is devoted to the problems of planning of joint actions and the selection of the initial objectives of the team of robots ...
Added: December 13, 2013
Vorobiev V., В кн.: Интегрированные модели и мягкие вычисления в искусственном интеллекте. Сб. научных трудов VII-й Международной научно-практической конференции (Коломна, 20-22 мая 2013)Т. 2.: М.: Физматлит, 2013. Гл. 6.7 С. 793–798.
Chapter is devoted to the planning of joint action for tasks of robotics group ...
Added: December 13, 2013