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Voronoi-based Path Planning based on Visibility and Kill/Death Ratio Tactical Component
P. 129-140.
We present an obstacle avoiding path planning method based on a Voronoi diagram adjusted with tactical component in a first-person shooter video game. We use a visibility measure to aggregate information on cover positions in offline and online game modes. In order to incorporate online learning based on frag map, we introduce a path finding algorithm minimizing the probability to walk along the path through dangerous zones, and on the contrary, choosing the best positions to shoot when observing a map level. Several implementations of collision free path finding are compared under efficiency, team goal achievements, and path length measures.
Publication based on the results of:
In book
Aachen : CEUR Workshop Proceedings, 2018
Makarov I., Pavel Polyakov, , in : Supplementary Proceedings of the 5th International Conference on Analysis of Images, Social Networks and Texts (AIST-SUP 2016), Yekaterinburg, Russia, April 7-9, 2016. Vol. 1710.: Aachen : CEUR Workshop Proceedings, 2016. Ch. 19. P. 191-202.
We present an obstacle avoiding path planning method based on a Voronoi diagram. We use a tactical visibility measure to obtain the shortest path length with the lowest local probability to be discovered based on the map topology. A Voronoi-based navigation mesh for finding the shortest smooth path with the lowest visibility along the path ...
Added: August 27, 2016
Panov A. I., Yakovlev K., Suvorov R. E., Procedia Computer Science 2018 Vol. 123 P. 347-353
Single-shot grid-based path finding is an important problem with the applications in robotics, video games etc. Typically in AI community heuristic search methods (based on A And its variations) are used to solve it. In this work we present the results of preliminary studies on how neural networks can be utilized to path planning on ...
Added: September 3, 2018
Natalia Soboleva, Konstantin Yakovlev, , in : Proceedings 16th Russian Conference on Artificial Intelligence (RCAI 2018). Issue 934.: Cham : Springer, 2018. P. 206-217.
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem is harder to solve than the one when shortest paths of any shape are sought, since the ...
Added: August 14, 2019
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
Dergachev S., Yakovlev K., Муравьев К. Ф., , in : IFAC-PapersOnLine. Vol. 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
Yakovlev K., Baskin E., Hramoin I., , in : Proceedings of the 38th Annual German Conference on Artificial Intelligence (KI 2015), Dresden, Germany, September 21-25, 2015. : Switzerland : Springer, 2015. P. 208-221.
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 ...
Added: July 14, 2017
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
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
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
Makarov I., Peter Zyuzin, Pavel Polyakov et al., , in : Proceedings of the Third Workshop on Experimental Economics and Machine Learning (EEML 2016), Moscow, Russia, July 18, 2016. Vol. 1627.: Aachen : CEUR Workshop Proceedings, 2016. Ch. 3. P. 24-33.
We present two examples of how human-like behavior can be implemented in a model of computer player to improve its characteristics and decision-making patterns in video game. At first, we describe a reinforcement learning model, which helps to choose the best weapon depending on reward values obtained from shooting combat situations. Secondly, we consider an ...
Added: August 27, 2016
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
Andreychuk A., Yakovlev K., , in : Interactive Collaborative Robotics: Second International Conference, ICR 2017, Hatfield, UK, September 12-16, 2017, Proceedings. : Springer, 2017. P. 1-10.
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized planner – MAPP is described and applied to the task of finding trajectories for dozens UAVs performing nap-of-the-earth flight in urban environments. Results ...
Added: November 6, 2017
Panov A. I., Yakovlev K., , in : Robot Intelligence Technology and Applications 4. : Springer, 2016. P. 3-20.
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location. The latter is originally unreachable for some members of the coalition, but the common ...
Added: August 4, 2016
Yakovlev K., Baskin E., Hramolin I., , in : Artificial Intelligence: Methodology, Systems, and Applications 16th International Conference, AIMSA 2014, Varna, Bulgaria, September 11-13, 2014. Proceedings. Vol. 8722.: Dordrecht, L., Cham, Heidelberg, NY : Springer, 2014. P. 278-285.
Path planning is typically considered in Artificial Intelligence as a graph searching problem and R* is state-of-the-art algorithm tailored to solve it. The algorithm decomposes given path finding task into the series of subtasks each of which can be easily (in computational sense) solved by well-known methods (such as A*). Parameterized random choice is used ...
Added: April 24, 2015
Andreychuk A., Yakovlev K., , in : Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings. : Springer, 2018. P. 13-22.
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of lower cost, e.g. time ...
Added: August 13, 2019
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
Yakovlev K., Andreychuk A., , in : Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017). : Palo Alto : AAAI Press, 2017. P. 586-593.
The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents’ workspace is tessellated into the square grid on which any-angle moves are allowed, e.g. each agent can move into an ...
Added: July 17, 2017
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