• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Book chapter
  • Grid-based angle-constrained path planning
  • 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
  • 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
June 25, 2026
HSE Researchers Make Aldehydes Perform Dual Function
Chemists from HSE University have discovered a way to carry out a reductive addition reaction without using an external reducing agent. Instead, the required 'resource' is supplied by the aldehyde itself, one of the reaction participants. This approach helps prevent unwanted side reactions, reduces toxicity, and simplifies the production and synthesis of organic molecules, including those used in the manufacture of medicines. The study has been published in Journal of Catalysis.
June 25, 2026
HSE Scientists Explain Why Findings in Autism Research Differ
Researchers from the Cognitive Health and Intelligence Centre at HSE University conducted the first-ever systematic review of studies on the specifics of emotion-from-motion perception in autism. The review showed that differences found between autistic and non-autistic individuals are largely associated with the experimental design and the types of tasks given to study participants. The review findings have been published in Research in Autism.
June 22, 2026
‘In Science, You Are Your Own Boss
Polina Nasledskova is interested in identifying gaps in linguistics and topics that have been overlooked by other researchers. In an interview for the  Young Scientists of HSE University project, she spoke about rare ordinal numerals in Nakh-Daghestanian languages, the benefits of knitting for concentration, and the beauty of the Patriarshy Bridge.

 

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

?

Grid-based angle-constrained path planning

P. 208–221.
Yakovlev K., Baskin E., Hramoin I.

Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is concentrated on finding the shortest (in geometrical sense) paths while in many applications finding smooth paths (rather than the shortest ones but containing sharp turns) is preferable. In this paper we study the problem of generating smooth paths and concentrate on angle constrained path planning. We put angle-constrained path planning problem formally and present a new algorithm tailored to solve it – LIAN. We examine LIAN both theoretically and empirically. We show that it is sound and complete (under some restrictions). We also show that LIAN outperforms the analogues when solving numerous path planning tasks within urban outdoor navigation scenarios.

Language: English
DOI
Text on another site
Keywords: Gridpath planningheuristic searchPath findingLIAN

In book

Proceedings of the 38th Annual German Conference on Artificial Intelligence (KI 2015), Dresden, Germany, September 21-25, 2015
Switzerland: Springer, 2015.
Similar publications
Coverage of Agricultural Areas by a Group of Unmanned Aerial Vehicles Considering Wind Load and Energy Consumption Constraints
Faizullin R., Mustafin M., Svinin M. et al., , in: 2025 9th International Conference on Information, Control, and Communication Technologies (ICCT-2025).: IEEE, 2026. 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
Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic
Roslavtsev M., Eryomin A., Safin R. et al., , in: 2024 8th International Conference on Information, Control, and Communication Technologies (ICCT).: IEEE, 2024. P. 1–5.
Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of ...
Added: November 25, 2025
ROS-based navigation in unknown environment using the InsertBug algorithm: Issues of practical usage
Nekerov I., Safin R., Tsoy T. et al., Ученые записки Казанского университета. Серия: Физико-математические науки 2025 Vol. 167 No. 1 P. 38–53
BUG algorithms are effective strategies for local path planning in unknown environments. This article presents a practical implementation of the InsertBug algorithm using the Robot Operating System (ROS) and highlights its challenges. The algorithm relies on laser sensor and odometry data to construct a locally optimal path in an unknown terrain. Its evaluation was performed ...
Added: November 25, 2025
Implementation and Validation of the CautiousBug Algorithm in ROS Noetic
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
ROS-based navigation in unknown environment with TangentBug Algorithm: issues of practical usage
Gorokhov L., Safin R., Magid E., , in: Proceedings Volume 13404, Fifth International Conference on Control, Robotics, and Intelligent System (CCRIS 2024).: SPIE, 2024. Ch. 134040X.
Path planning Bug algorithms play a crucial role in addressing the problem of navigating through unknown environments. This paper presents a practical implementation of the TangentBug algorithm within the Robot Operating System along with a discussion of encountered issues of practical usage. The TangentBug algorithm uses data from laser and odometry sensors to construct locally optimal paths without ...
Added: February 19, 2025
Implementation of Bug1 and Bug2 Basic Path-Planning Algorithms for a TurtleBot 3 Robot in ROS Noetic
Spektor I., Zagirov A., Safin R. et al., , in: Proceedings Of The 2024 International Conference On Artificial Life And Robotics February 22 To 25, 2024 J:Com Horutohall, Oita, Japan. 29Th Arob International Meeting Series.: ALife Robotics Corporation Ltd., 2024. P. 272–275.
Added: February 19, 2025
Urban green infrastructure index: Assessing supply of regulating and cultural ecosystem services at a megacity scale
Dvornikov Y., Grigoreva V., Vasenev V. et al., Ecological Indicators 2025 Vol. 170 Article 113014
Urban green infrastructures (UGI) contribute to a quality of life in cities by provisioning cultural and regulating ecosystem services (ES). Planning and management of UGI needs transparent and spatially explicit indicators of the ES supply. In this study, we have used open-source geospatial data to quantify regulating (air pollution/noise and stormwater runoff regulation, climate mitigation), ...
Added: February 1, 2025
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
Dergachev S., Yakovlev K., Муравьев К. Ф., , in: IFAC-PapersOnLineVol. 55. Issue 38: 13th IFAC Symposium on Robot Control SYROCO 2022.: Elsevier, 2022. P. 80–85.
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For local path following we use Model Predictive Path Integral (MPPI) control method. We propose novel cost-functions for MPPI ...
Added: September 8, 2023
Modified E3 exploration algorithm for unknown environments with obstacles
Mavrin I., Tsoy T., Magid E., , in: 2022 13th Asian Control Conference (ASCC).: IEEE, 2022. P. 1413–1418.
An efficient autonomous exploration of an unknown environment is an important task for mobile robots, which is required in many domains. This paper considers three existing exploration approaches: frontier exploration algorithm (FEA), greedy algorithm (GrA) and Ergodic Environmental Exploration algorithm (E3). While original E3 deals only with empty environments, we propose a new modified version ...
Added: October 28, 2022
Multi-agent Pathfinding With Continuous Time
Andreychuk A., Yakovlev K., Surynek P. et al., Artificial Intelligence 2022 Vol. 305 Article 103662
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that each agent reaches its goal and the agents do not collide. In recent years, variants of MAPF have risen in a wide range of real-world applications such as warehouse management and autonomous vehicles. Optimizing common MAPF objectives, such as minimizing sum-of-costs ...
Added: August 26, 2022
Разработка и имплементация сплайн-алгоритма планирования пути в среде ROS/Gazebo
Лавренов Р. О., Magid E., Мацуно Ф. et al., Информатика и автоматизация (Труды СПИИРАН) 2019 Т. 18 № 1 С. 57–84
Path planning for autonomous mobile robots is an important task within robotics field. It is common to use one of the two classical approaches in path planning: a global approach when an entire map of a working environment is available for a robot or local methods, which require the robot to detect obstacles with a ...
Added: November 9, 2021
Prioritizing Tasks Within a Robotic Transportation System for a Smart Hospital Environment
Safin R., Lavrenov R., Tsoy T. et al., , in: Interactive Collaborative Robotics: 6th International Conference, ICR 2021, St. Petersburg, Russia, September 27–30, 2021, Proceedings.: Springer, 2021. Ch. 16 P. 182–193.
This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms. The UGVs navigate in the environment with moving objects in accordance with basic traffic ...
Added: October 21, 2021
Coordinated global and private job-flow scheduling in grid virtual organizations
Toporkov V., Yemelyanov D., Anna Toporkova, Simulation Modelling Practice and Theory 2021 Vol. 107 No. February 2021 P. 102228
Abstract In this work, an approach for a preference-based job-flow scheduling in Grid virtual organizations is proposed and studied. Virtual organizations provide uniform rules of the resources sharing and consumption and should respect individual and common preferences of its stakeholders: users, resource providers and administrators. In most cases, a virtual organization’s stakeholders pursue contradictory market-based goals, ...
Added: December 11, 2020
Revisiting Bounded-Suboptimal Safe Interval Path Planning
Yakovlev K., Andreychuk A., Stern R., , in: Proceedings of the 30th International Conference on Automated Planning and Scheduling (ICAPS 2020).: AAAI Press, 2020. P. 300–304.
Added: October 21, 2020
GAN Path Finder: Preliminary results
Soboleva Natalia, Yakovlev K., , in: Proceedings of the 42nd German Conference on Artificial Intelligence (KI 2019), Kassel, Germany, September 23-26, 2019.: Springer, 2019. P. 316–324.
2D path planning in static environment is a well-known problem and one of the common ways to solve it is to (1) represent the environment as a grid and (2) perform a heuristic search for a path on it. At the same time 2D grid resembles much a digital image, thus an appealing idea comes ...
Added: February 3, 2020
Preference based and fair resources selection in grid VOs
Toporkov V., Yemelyanov D., Toporkova A. S., , in: Parallel Computing Technologies. PaCT 2019. Lecture Notes in Computer Science, vol 11657.: Springer, 2019. P. 80–92.
In this work, a preference-based resources allocation algorithm for a job-flow scheduling in Grid virtual organizations (VOs) is proposed and studied. Users’ and resource providers’ preferences, VOs internal policies, resources geographical distribution along with local private utilization impose specific requirements for efficient scheduling according to different, usually contradictive, criteria. The algorithm performs resources selection optimization ...
Added: October 23, 2019
Global and Private Job-Flow Scheduling Optimization in Grid Virtual Organizations
Toporkov V., Toporkova A. S., Yemelyanov D., , in: Intelligent Distributed Computing XIII.: Switzerland: Springer, 2020. P. 160–169.
In this work, an approach for a preference-based job-flow scheduling in Grid virtual organizations (VOs) is proposed and studied. Users’ and resource providers’ preferences, VOs internal policies, resources geographical distribution along with local private utilization impose specific requirements for efficient scheduling according to different, usually contradictive, criteria. Fair scheduling policies in VOs assume resources distribution ...
Added: October 23, 2019
  • 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