?
EEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
2017.
Chapters
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
Priority areas:
IT and mathematics
Language:
English
Keywords: SLAM
Teregulov T., Loubenets E. R., / Series Quantum Physics "arXiv". 2026. No. 2609.31472.
We develop a new three-party quantum secret-sharing (QSS) protocol based on a three-qubit W state. This protocol encodes the secret-sequence bits using X gates and employs randomly selected Hadamard operations and measurement bases to generate information and security-test rounds. We evaluate the efficiency of the proposed protocol and analyze its security against an internal adversary ...
Added: September 28, 2026
Shabanov N., Kuricheva O., Kurbatova J. et al., / Series Working Papers SSRN "Department of Economics Ca’ Foscari University of Venice". 2026.
The carbon balance of an ecosystem is the difference between Gross Primary Productivity (GPP) and Ecosystem Respiration (Reco) as expressed by Net Ecosystem Exchange (NEE). While remote sensing retrievals of GPP have reached maturity, Reco estimation remains underexplored and ultimately cast bias on NEE. Here we present an end-to-end multi-scale analysis of the mechanism of ...
Added: August 21, 2026
Ponomarenko A., / Series Computer Science "arxiv.org". 2025.
This paper addresses the challenge of merging hierarchical navigable small world (HNSW) graphs, a critical operation for distributed systems, incremental indexing, and database compaction. We propose three algorithms for this task: Naive Graph Merge (NGM), Intra Graph Traversal Merge (IGTM), and Cross Graph Traversal Merge (CGTM). These algorithms differ in their approach to vertex selection ...
Added: July 30, 2026
Piontkovski D., / Series arXiv "math". 2026.
A noncommutative projective variety is defined, following Artin and Zhang, by a graded coherent algebra 𝐴. The category of coherent sheaves is then the quotient qgr(𝐴) of the category of finitely presented graded modules by the subcategory of torsion modules. We consider the categorical and polynomial entropies of the Serre twist, that is, of the ...
Added: June 23, 2026
Piontkovski D., / Series arXiv "math". 2025.
If a symmetric multilinear algebra is weakly nil, then it is Engel. This result may be regarded as an infinite-dimensional analogue of the well-known Jacobian theorem, which states that if a polynomial mapping has a polynomial inverse, then its Jacobian matrix is invertible. This refines a theorem of Gerstenhaber and partially answers a question posed ...
Added: June 23, 2026
Shipilov F., Barnyakov A., Ivanov A. et al., / Series Physics "arxiv.org". 2026.
A fast simulation of the detector response is a vital task in high-energy physics (HEP). Traditional Monte-Carlo methods form the backbone of modern particle physics simulation software but are computationally expensive. We present a machine-learning-based approach to fast simulation of the Focusing Aerogel Ring Imaging Cherenkov (FARICH) detector response. Given a particle track and momentum, ...
Added: May 19, 2026
Derkacheva A., Sakirkina M., Kraev G. et al., /. 2026.
Comprehensive data on natural hazards and their consequences are crucial for effective for risk assessment, adaptation planning, and emergency response. However, many countries face challenges with fragmented, inconsistent, and inaccessible data, particularly regarding local-scale events. To address this data gap in Russia, we developed an end-to-end processing pipeline that scrapes news from various online sources, ...
Added: April 28, 2026
Pilé I., Deng Y., Shchur L., / Series arXiv "math". 2026. No. 2604.10254.
We investigate the spatial overlap of successive spin configurations in Markov chain Monte Carlo simulations using the local Metropolis algorithm and the Svendsen-Wang and Wolff cluster algorithms. We examine the dynamics of these algorithms for two models in different universality classes: the Ising model and the Potts model with three components. The overlap of two ...
Added: April 20, 2026
Gabdullin N., Androsov I., / Series Computer Science "arxiv.org". 2026.
Label prediction in neural networks (NNs) has O(n) complexity proportional to the number of classes. This holds true for classification using fully connected layers and cosine similarity with some set of class prototypes. In this paper we show that if NN latent space (LS) geometry is known and possesses specific properties, label prediction complexity can ...
Added: April 2, 2026
Sorokin K., Beketov M., Онучин А. et al., / arxiv.org. Серия cs.SI "Social and Information Networks ". 2025.
Community detection in complex networks is a fundamental problem, open to new approaches in various scientific settings. We introduce a novel community detection method, based on Ricci flow on graphs. Our technique iteratively updates edge weights (their metric lengths) according to their (combinatorial) Foster version of Ricci curvature computed from effective resistance distance between the ...
Added: January 15, 2026
Petrovanov I., Sergeev A., / Series Computer Science "arxiv.org". 2025. No. 2512.18332.
Transport coding reduces message delay in packet-switched networks by introducing controlled redundancy at the transport layer: original packets are encoded into coded packets, and the message is reconstructed after the first successful deliveries, effectively shifting latency from the maximum packet delay to the -th order statistic. We present a concise, reproducible discrete-event implementation of transport coding in OMNeT++, including ...
Added: December 24, 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
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
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
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., Khithov V., Loginov M. et al., , in: Intelligent Systems'2014 - Proceedings of the 7th IEEE International Conference Intelligent Systems IS'2014, September 24-26, 2014, Warsaw, Poland, Volume 2: Tools, Architectures, Systems, ApplicationsТ. 323.: Springer, 2015. 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 ...
Added: April 27, 2015
Shershakov S., , in: Proceedings of the International Conference on Electrical and Computer Systems ICECS'12.: Ottawa: International ASET Inc, 2012. P. 207-1–207-8.
The SLAM-based Static Driver Verifier Research Platform (SDVRP), as a tool that systematically analyzes source code and allows writing custom SLIC rules for various platforms, provided a potent verification mechanism for an embedded software system based on ARM Cortex-M0 microprocessor. The correctness of this software is of particular importance in the sense that there are ...
Added: March 14, 2013
Sergey Shershakov, Irina Lomazova, , in: Proceedings of the 6th Spring/Summer Young Researchers’ Colloquium on Software Engineering, SYRCoSE 2012.: Perm: -, 2012. P. 79–84.
The correctness of embedded systems software is of critical importance as invalid states can cause a physical damage to hardware. One of approaches to verification of such systems is using source code analyzers. The Static Driver Verifier Research Platform (SDVRP), which is based on Simultaneous Localization and Mapping (SLAM) and represents a tool that systematically ...
Added: March 14, 2013