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Partially unknown environment exploration algorithm for a mobile robot
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 Operating System (ROS) framework was used both for simulations in Gazebo environment and for the real robot control. Our method demonstrated better results for large space exploration in simulations as well as within small indoor environment exploration experiments
Kraevskiy A., Sokolovskiy E., Prokhorov A., Emerging Markets Review 2026 No. 74 P. 1–19
Financial markets of emerging economies are vulnerable to extreme and cascading information spillovers, surges, sudden stops and reversals. With this in mind, we develop a new online early warning system (EWS) to detect what is referred to as ‘concept drift’ in machine learning, as a ‘regime shift’ in economics and as a ‘change-point’ in statistics. ...
Added: September 25, 2026
Дубич Е. В., Schagin D., Славянский форум 2026 № 2 (52) С. 560–565
The paper compares HTTP/2 and HTTP/3 for static resource transfer under software-simulated network degradation. The experiment shows that HTTP/3 is not universally faster, but it is more stable as latency and packet loss increase. ...
Added: September 25, 2026
Joulitov A.K., Lomazova I.A., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 4(2) P. 215–224
In process mining, DFG (Directly-Follows Graph) models are popular due to their simplicity and clarity. However, if a process is acyclic but contains concurrent events, standard algorithms for discovering DFG models can generate "fake" cycles that do not actually exist in the event log. These cycles hinder the analysis of information processes, significantly reducing the ...
Added: September 24, 2026
Добрина Д. Н., Nesterenko A., Прикладная дискретная математика. Приложение 2026 № 19 С. 151–159
Работа содержит результаты формального анализа криптографических механизмов, входящих в состав проекта методических рекомендаций «Защищенный универсальный протокол передачи данных и управления микросхемой интеллектуальной карты» (протокол SECUNDA). Получена формальная модель и перечень трудноразрешимых математических задач, трудоёмкостью решения которых можно оценить стойкость используемых криптографических механизмов. ...
Added: September 24, 2026
I.I. Sergeev, I.A. Lomazova, Modeling and Analysis of Information Systems 2026 Vol. 33 No. 3 P. 394–419
Object-centric process mining has emerged as a powerful paradigm for analyzing event data involving multiple interacting business objects. Existing discovery techniques often rely on object-centric Petri nets with fixed arc multiplicities, limiting their ability to represent parametric resource consumption and production patterns and to capture quantitative dependencies between interacting object types. In this paper, we ...
Added: September 24, 2026
Ivan Bulychev, Savchenko A., AI 2026 Vol. 7 No. 9 Article 380
Recent advances in large language model (LLM) agents have shown promise for autonomous decision-making in recommender systems. However, existing approaches suffer from two fundamental limitations: flat agent memories that conflate different information modalities and prohibitive computational costs that prevent scaling beyond a few hundred users. We propose Hybrid-GraphRAG, a recommender system that integrates hierarchical agent ...
Added: September 24, 2026
Snegirev A., Sychev S., Futures 2026 Vol. 183 P. 1–22
This study addresses the systemic identification and categorization of risks associated with AI development, arising from tensions between technological evolution and institutional, infrastructural, and economic contexts. Drawing on a constructionist methodology, we interpret technological risks as constitutive elements of expert communities' images of the future. Through in-depth interviews with 100 AI experts, proportionally representing corporate, ...
Added: September 23, 2026
Parshakov P., Paklina S., International Journal of Human-Computer Interaction 2026 P. 1–17
This study examines how emotional tone shapes user preference in human–large language model (LLM) interaction. Drawing on the Computers as Social Actors framework, we treat conversational AI as a social communicator whose affective cues influence user judgments. Using large-scale pairwise preference data from LMSYS Chatbot Arena, we model emotional tone through the Valence–Arousal–Dominance framework and ...
Added: September 23, 2026
Andrabi U., Wadood E., Ojha S. K. et al., IEEE Access 2026 Vol. 14 P. 103358–103375
The emergence of 5G networks, aimed at accommodating diverse service requirements such as enhanced Mobile Broadband (eMBB), Ultra-Reliable Low-Latency Communication (URLLC), and massive Machine-Type Communication (mMTC), has presented significant challenges in radio resource management and network slicing. In dynamic heterogeneous network systems, traditional heuristics and mathematical programming methods find it challenging to attain scalable multi-objective ...
Added: September 23, 2026
Paklina S., Parshakov P., Elena Rapoport, Scientometrics 2026 P. 1–26
Generative artificial intelligence has become a routine part of academic writing. While much of the debate has focused on questions of integrity and authorship, less attention has been paid to how AI-assisted writing may affect research evaluation itself. This paper asks a straightforward but important question: does the use of LLMs in academic writing change ...
Added: September 23, 2026
Kertesz-Farkas A., Acquaye F. L., Journal of Proteome Research 2026 Vol. 25 P. 3764–3768
Ultimately, most tandem mass spectrometry (MS/MS) proteomics experiments aim to not just detect but also quantify the proteins in a given complex sample. Here, we describe an extension to the Crux MS/MS analysis toolkit to enable label-free quantification of peptides. We demonstrate that Crux’s new quantification command, which is modeled after the algorithms implemented in ...
Added: September 23, 2026
Maddalena L., Yildiz B., Del Vecchio Blanco F. et al., Risk Analysis 2026 Vol. 46 No. 4 P. 1–26
Heated tobacco products (HTPs) are marketed as alternatives to conventional cigarettes with a potential reduced risk profile. Yet, their actual impact on cancer and noncancer disease risk remains uncertain and requires rigorous quantitative assessment. In this study, we develop a unified and transparent computational framework for toxicological risk assessment of HTPs, integrating chemical emissions data ...
Added: September 22, 2026
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 3 P. 855–862
Tasks related to the automation of medical data processing are becoming more urgent. Particular attention is paid to systems for monitoring and analyzing human physiological parameters. Such systems often use specialized sensors to capture biomedical images, such as infrared cameras. This article describes our study of the problem of segmenting the eye pupil and iris ...
Added: September 21, 2026
Aleksei Samarin, Nazarenko A., Alexander Savelev et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 3 P. 844–854
Improving image quality is becoming an increasingly popular task, especially when working with mobile devices. One common approach to image enhancement is the use of convolutional neural networks. However, to achieve good results, such networks must be large enough, otherwise there is a risk of unwanted artifacts. In addition, large convolutional neural networks require significant ...
Added: September 21, 2026
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Optical Memory and Neural Networks (Information Optics) 2024 Vol. 33 P. 424–434
This study explores the development of classifiers for microbial images, specifically focusing on streptococci captured via microscopy of live samples. Our approach uses AutoML-based techniques and automates the creation and analysis of feature spaces to produce optimal descriptors for classifying these microscopic images. This technique leverages interpretable taxonomic features based on the external geometric attributes ...
Added: September 21, 2026
Aleksei Samarin, Aleksei Toropov, Alexander Savelev et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 4 P. 1053–1060
This paper presents a novel approach to classification in biomedical imaging, specifically targeting polyp recognition in video endoscopy snapshots. Our method leverages specialized image descriptors to enhance the accuracy and robustness of polyp recognition. By employing these specialized descriptors, we address the challenges inherent in analyzing biomedical images from open datasets. Our approach not only ...
Added: September 21, 2026
Самарин А. В., Торопов А. Г., Савельев А. Г. et al., Pattern Recognition and Image Analysis 2024 Vol. 34 No. 4 P. 1044–1052
This paper presents a study aimed at improving the detection quality of small-sized microorganisms under challenging microscopic conditions through the application of a lightweight combined image preprocessing model. We focused on the task of detecting diplococci in images obtained through dynamic sample microscopy. The proposed approach employs predefined filters for image preprocessing, combined with the ...
Added: September 21, 2026
Faizullin R., Imamov N., Tsoy T. et al., , in: 10th International Conference, ICR 2025, Hanoi, Vietnam, November 10–13, 2025, Proceedings, Part II. Interactive Collaborative Robotics. (LNCS, volume 16304).: Springer, 2026. P. 385–398.
Autonomous agricultural vehicles operating under the Controlled Traffic Farming (CTF) paradigm face complex routing challenges when minimizing soil compaction, total mission time, and station placement under battery constraints. This paper introduces Multi-Objective Coordinated Autonomous Routing and Placement with Fixed Lanes (MO-CARP-FL), a novel multi-objective evolutionary algorithm designed to optimize the coordinated routing of homogeneous autonomous ...
Added: March 17, 2026
Faizullin R., Imamov N., Tsoy T. et al., , in: Proceedings of the Fifth International Conference on Agriculture Digitalization and Organic Production (ADOP 2025), Volume 1. Robotics in Agriculture. (SIST, volume 453).: Springer, 2026. P. 25 – 34.
This article considers a dual problem of optimizing field coverage while minimizing a soil compaction and managing energy constraints of agricultural robots. The soil compaction in precision agriculture is a major challenge, as mobile robots are becoming increasingly common in field operations. A proposed optimization combines a soil compaction risk assessment with energy-efficient trajectory planning ...
Added: March 17, 2026
Gataullin R., Abbyasov B., Zhukova V. et al., , in: 6th International Conference, CIT&DS 2025, Volgograd, Russia, September 22–25, 2025, Proceedings. Creativity in Intelligent Technologies and Data Science. (CCIS, volume 2803).: Cham: Springer, 2025. P. 477 – 491.
Mobile robots are increasingly used to automate repetitive and labor-intensive tasks in environments such as hospitals, warehouses, offices, and manufacturing facilities. When working together, multiple robots can achieve greater efficiency by sharing workloads and coordinating complex tasks, which enables faster completion of large-scale operations. Managing such teams of robots, however, requires an intuitive system for ...
Added: March 17, 2026
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
O. I. Vendina, A. V. Sheludkov, Gritsenko A. A., Regional Research of Russia 2024 Vol. 14 No. Suppl 1 P. S10–S30
The article is based on the materials of the field research conducted in Krasnodar krai in the summer–autumn of 2023, as well as on the analysis of articles and projects devoted to the substantiation of spatial forms and borders of Russian urban agglomerations. The Krasnodar urban agglomeration was chosen for several reasons: (a) the intensive ...
Added: October 10, 2025
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
Кочкаров А. А., Yatskin D., Программные продукты и системы 2016 № 3 С. 60–66
This paper is devoted to the task of space monitoring, algorithm and software package for solving it. From this problem the authors go on to the problem of detection, and then – to the problem of geometrical sensors location. It is proposed to use a decentralized robotic network to solve this problem. Limitations and assumptions ...
Added: March 7, 2025