• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Book chapter
  • Modified E3 exploration algorithm for unknown environments with obstacles
  • 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
August 18, 2026
HSE Scholar Presents Research on Postcards in Brazil and South Korea
Timur Khusyainov, Deputy Dean of theFaculty of Humanities atHSE University–Nizhny Novgorod, took part in two international conferences—the XVI World Congress of Rural Sociology in Porto Alegre, Brazil, and the 36th Annual Conference of the Alliance of Digital Humanities Organisations (DH2026) in Daejeon, South Korea. On his way to the conferences, the researcher also visited several other places, where he presented the experience of the Pochtovoe educational project.
August 18, 2026
Physicists Discover What Happens Inside a Stable Vortex
Large vortices with characteristic spiral arms are often observed in the atmosphere and the ocean. Physicists from HSE University have explained how these structures form and why they retain their shape. The researchers found that velocities at points located along the same vortex arc remain correlated even over long distances. At the same time, this correlation weakens rapidly with increasing distance from the vortex centre. These differences help explain the formation of spiral arms and may improve models of atmospheric and oceanic currents. The findings have been published in Physical Review Fluids.
August 17, 2026
‘I Dream of Simple Things
Anastasia Gergenreter specialises in applied statistics and econometrics. In this interview for the Young Scientists of HSE University project, she talked about why she studies addictive substance use, two very different Fishers, and the cherry blossom season at the Main Botanical Garden in Moscow.

 

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

?

Modified E3 exploration algorithm for unknown environments with obstacles

P. 1413–1418.
Mavrin I., Tsoy T., Magid E.

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 of E3 (ME3A) that allows to explore environments with obstacles. FEA, GrA and ME3A were implemented in Robot Operating System and their performance was evaluated in Gazebo simulator within 18 different environments. We employed a total travelled distance and a percentage of explored environment as a comparison criteria. © 2022 ACA.

Language: English
DOI
Text on another site
Keywords: мобильный роботcomparative analysismobile robotpath planningUGVenvironment exploration algorithm

In book

2022 13th Asian Control Conference (ASCC)
IEEE, 2022.
Similar publications
Тяговый расчёт мобильного робота на этапе проектирования с использованием MatLab
Корсунский В. А., Бяков К. Е., М.: Издательство МГТУ им. Н.Э. Баумана, 2025.
Описана методика выбора параметров энергетической установки и тяговых электродвигателей мобильного робота на этапе проектирования с использованием программного комплекса MatLab. Для студентов высших учебных заведений, обучающихся по специальностям 23.05.01 «Наземные транспортно-технологические средства», 23.05.02 «Транспортные средства специального назначения», и магистрантов 2 курса, обучающихся по направлению подготовки 23.05.04 «Наземные транспортно-технологические средства». ...
Added: August 7, 2026
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, 2025. 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
Multi-Criteria Approach to Path Planning for Unmanned Tractors Considering Energy Constraints and Soil Compaction
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
Agricultural Field Coverage with a Group of Mobile Robots Considering a Soil Compaction Risk and Energy Efficiency
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
A Graphical User Interface for Controlling a Group of Service Mobile Robots
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
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
The Impact of National Culture on Innovation: A Comparative Analysis between Developed and Developing Nations during the Pre- and Post-Crisis Period 2007–2021
Lee H., Sergey U. Chernikov, Nagy S. et al., Social Sciences 2022 Vol. 11 No. 11 Article 522
This empirical study investigates the impact of the Hofstede cultural dimensions (HCD) on the Global Innovation Index (GII) scores in four different years (2007, 2009, 2019 and 2021) to compare the impacts during the pre- and post-crisis (financial and COVID-19) period by employing ordinary least square (OLS) and robust least square (Robust) analyses. The purpose ...
Added: March 11, 2025
Использование группы мобильных роботов для решения задач поиска людей на заранее заданной территории.
Yatskin D., В кн.: Труды 60-й Всероссийской научной конференции МФТИ. 20–26 ноября 2017 года. Радиотехника и компьютерные технологии.: М.: МФТИ, 2017. С. 127–128.
Исследуется использование группы мобильных роботов для решения задач поиска людей на заранее заданной территории ...
Added: March 7, 2025
Алгоритм поиска оптимального расположения сенсоров для решения задачи мониторинга пространства
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
Особенности решения задачи геометрического мониторинга
Кочкаров А. А., Yatskin D., 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
PRISM-TopoMap: online topological mapping with place recognition and scan matching
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
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
A Comparison of Different Hybrid Path Planning Algorithms for a Mobile Platform
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
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
A Tutorial on Modelling a Real Office Environment in Gazebo Simulator
Abbyasov B., Gamberov T., Zhukova V. et al., Journal of Robotics, Networking and Artificial Life 2023 Vol. 10 No. 2 P. 166–169
Testing is a crucial aspect of robotic systems development. New robotic concepts should be proven to be safe and effective before running on real robotic platforms in real environments. Robotic simulation allows creating virtual environments and repeating real-world scenarios. 3D modelling has become a standard way for creating on-demand compound digital 3D models with a ...
Added: February 19, 2025
  • 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