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Person-Following Algorithm Based on Laser Range Finder and Monocular Camera Data Fusion for a Wheeled Autonomous Mobile Robot
Ch. 3. P. 21–33.
Reliable human following is one of the key capabilities of service and personal assisting robots. This paper presents a novel person tracking and following approach for autonomous mobile robots that are equipped with a 2D laser rangefinder (LRF) and a monocular camera. The proposed method does not impose restrictions on a person’s clothes, does not require a head or an upper body to be within a camera field of view and is suitable for low height indoor robots as well. The algorithm is based on a metric that takes into an account parameters obtained directly from LRF and monocular camera data. The algorithm was implemented and tested in the Gazebo simulator. Next, it was integrated into a control system of the TIAGo Base mobile robot and successfully validated in university environment experiments with real people. In addition, this paper proposes a new criterion of algorithm performance estimation, which is a function of false positives number and traveled distances by a person and by a robot. Further this criterion is used to compare performance of the proposed method with the Multiple Instance Learning (MIL) tracker in simulated and in real world environments.
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
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., Яцкин Д. В., 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
Кочкаров А. А., Яцкин Д. В., Рахманов О. А., Известия ЮФУ. Технические науки 2016 № 2 С. 158–168
The problem of limited space monitoring is formulated. The connection between the monitoring space and the detection of objects in this space sets up. After introducing some assumptions we conclude the necessity of solving the covering set (connected space) problem. The presence of obstacles in the monitoring area is the characteristic feature of the problem. ...
Added: March 7, 2025
Kirill Muravyev, Melekhin A., Yudin D. et al., IEEE Robotics and Automation Letters 2025 Vol. 10 No. 4 P. 3126–3133
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged runs covering large environments. Meanwhile, capturing the topological structure of the workspace enables fast path planning, is typically less ...
Added: March 3, 2025
Sulaiman S., Sudheer A. P., Magid E., , in: 2024 4th International Conference on Computer, Control and Robotics (ICCCR).: IEEE, 2024. P. 269–273.
Mobile robots with wheeled, legged and hybrid bases are currently used in industrial and service sectors for diverse applications. In this paper, a comparative study of various hybrid path planning algorithms for avoiding static obstacles were carried out for determining a most efficient path planning algorithm for a given task. A modified Probabilistic Road Map ...
Added: February 19, 2025
Lychko S., Tsoy T., Li H. et al., , in: 2022 International Siberian Conference on Control and Communications (SIBCON).: IEEE, 2022. P. 1–6.
Internet of Medical Things (IoMT) is a rapidly growing branch of IoT (Internet of Things), which requires special treatment to cyber security due to confdentiality of healthcare data and patient health threat. Healthcare data and
automated medical devices might become vulnerable targets of malicious cyber-attacks. While a large number of robotic applications, including medical and healthcare, employ robot operating system (ROS) as their ...
Added: January 16, 2024
Torres-Martínez A. A., Martínez-García E., Lavrenov R. et al., , in: Artificial Intelligence for Robotics and Autonomous Systems Applications.: Springer, 2023. Ch. 15 P. 461–486.
Added: November 25, 2023
Apurin A., Abbyasov B., Martínez-García E. et al., , in: 8th International Conference, ICR 2023, Baku, Azerbaijan, October 25–29, 2023, Proceedings. Interactive Collaborative Robotics. LNCS, volume 14214.: Springer, 2023. Ch. 11 P. 116–126.
Added: November 25, 2023
Алхаддад М., Миронов К. В., Dergachev S. et al., Робототехника и техническая кибернетика 2023 Т. 11 № 3 С. 205–214
The task of local trajectory planning for an autonomous wheeled robotic platform in cluttered indoor environment is considered. Such environment might include narrow passages, which width is less than the length of the platform. Therefore, it is not possible to apply standard approach, when the obstacles are inflated with the maximum radius of the platform. ...
Added: September 8, 2023
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
Dobrokvashina A., Lavrenov R., Magid E. et al., International Journal of Mechanical Engineering and Robotics Research 2022 Vol. 11 No. 6 P. 417–421
In robotics, a simulation is an essential stage on a way of transferring a theoretical idea into a real world application. Since each popular simulator for robotics has particular advantages and shortcomings, it could be beneficial to simulate an algorithm behavior in several modelled instances prior to its integration into a real robot control system. ...
Added: October 28, 2022
Denisov E., Sagitov A., Yakovlev K. et al., , in: Proceedings of the 16th International Conference on Informatics in Control, Automation and RoboticsVol. 2.: SciTePress, 2019. Ch. 46 P. 409–416.
Recent developments in 3D reconstruction systems enable to capture an environment in great detail. Several studies have provided algorithms that deal with a path-planning problem of total coverage of observable space in time-efficient manner. However, not much work was done in the area of globally optimal solutions in dense clutter environments. This paper presents a ...
Added: November 9, 2021
Denisov E., Sagitov A., Lavrenov R. et al., , in: Interactive Collaborative Robotics: 4th International Conference, ICR 2019, Istanbul, Turkey, August 20–25, 2019.: Springer, 2019. Ch. 21 P. 216–225.
Added: November 9, 2021
Myrzin V., Tsoy T., Bai Y. et al., , in: Interactive Collaborative Robotics: 6th International Conference, ICR 2021, St. Petersburg, Russia, September 27–30, 2021, Proceedings.: Springer, 2021. Ch. 12 P. 138–149.
For a large variety of tasks autonomous robots require a robust visual data processing system. This paper presents a new human detection framework that combines rotation-invariant histogram of oriented gradients (RIHOG) features and binarized normed gradients (BING) pre-processing and skin segmentation. For experimental evaluation a new Human body dataset of over 60000 images was constructed ...
Added: October 21, 2021
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
Karpova I. P., В кн.: Интегрированные модели и мягкие вычисления в искусственном интеллекте. Сборник научных трудов IX-й Международной научно-практической конференции (Коломна, 19-22 мая 2019 г.).: Переславль-Залесский: Российская ассоциация искусственного интеллекта, 2019. С. 251–262.
A mechanism for memorizing the route that a mobile robot passes in search of a target object is considered. The basis of the proposed method is to memorize the path by visual reference points and fuzzy control. The benchmark is a compact group of objects that differ in color and size. A hierarchical procedure for ...
Added: January 28, 2020