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Об одном биоинспирированном подходе к ориентации роботов, или настоящий «муравьиный» алгоритм
Управление большими системами: сборник трудов. 2022. № 96. С. 69–117.
The paper describes a bioinspired method of mobile robots navigation, similar to the navigation mechanism of social insects. The model species is the red forest ant Formica rufa. The scout red forest ant remembers the route to food and can transmit information about the food location to foraging ants. Foragers can walk to the food on their own and return home. These ants are guided by the skylight compass, odometry data and visual landmarks. The proposed method is based on memorizing the path by visual landmarks, compass data and time component. A path is defined as a sequence of scenes consisting of landmarks. The scout route and forager route are defined as transitions from one landmark to another. The created behavior model of an animate (robot) operates only with relative categories. The results of simulation modeling for solving the foraging problem are presented. The method has been tested on real robots. Due to specific architectural and technical solutions, the transition from simulation models to the management of technical objects (robots) is carried out without the stage of physical modeling. The method can also be used in reconnaissance and patrol tasks in group robotics.
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
Singapore: Springer Singapore, 2025.
Added: September 21, 2026
Tomat A., Sergei O. Kuznetsov, International Journal of Approximate Reasoning 2026 Vol. 197 Article 109754
Interval Pattern Structures (IPS) provide a natural way to represent local, human-readable explanations for predictions on numerical data through vectors of intervals interpreted as axis-parallel hyper-rectangles. In this paper, we develop and evaluate an IPS-based k-nearest neighbors classifier, IPS-KNN, that explains each prediction through a single local interval description rather than through the aggregation of ...
Added: September 21, 2026
Aleksei Samarin, Nazarenko A., Kotenko E. et al., / Series arXiv "math". 2025. No. 2511.20141.
This paper presents a novel approach to neural network compression that addresses redundancy at both the filter and architectural levels through a unified framework grounded in information flow analysis. Building on the concept of tensor flow divergence, which quantifies how information is transformed across network layers, we develop a two-stage optimization process. The first stage ...
Added: September 21, 2026
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Pattern Recognition and Image Analysis 2025 Vol. 35 No. 2 P. 169–178
This study explores the incorporation of specialized self-attention mechanisms into deep learning architectures, with a particular emphasis on segmenting human iris and pupil regions in infrared images. In this work, we present some modified versions of nonlocal blocks designed to enhance self-attentive properties while addressing the distinct characteristics of infrared imaging data. By applying these customized ...
Added: September 21, 2026
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Journal of Imaging 2025 Vol. 11 No. 10 Article 359
Timely identification and accurate delineation of ultra-early ischemic stroke lesions in non-contrast computed tomography (CT) scans of the human brain are of paramount importance for prompt medical intervention and improved patient outcomes. In this study, we propose a deep learning-driven methodology specifically designed for segmenting ultra-early ischemic regions, with a particular emphasis on both the ...
Added: September 21, 2026
Springer, Cham, 2025.
Added: September 21, 2026
Aleksei Samarin, Alexander Savelev, Aleksei Toropov et al., Journal of Imaging 2025 Vol. 11 No. 6 P. 1–20
This study presents a unified low-parameter approach to multi-class classification of microorganisms (micrococci, diplococci, streptococci, and bacilli) based on automated machine learning. The method is designed to produce interpretable taxonomic descriptors through analysis of the external geometric characteristics of microorganisms, including cell shape, colony organization, and dynamic behavior in unfixed microscopic scenes. A key advantage ...
Added: September 21, 2026
Irina Petrovna Karpova, Pattern Recognition and Image Analysis 2025 Vol. 35 No. 4 P. 1138–1144
A solution to the problem of redistributing agents between groups based on simulating a form of social parasitism in ants known as slave-making is considered. To provide a comprehensive solution, the problem is integrated with a method of orientation based on visual landmarks and a compass, including route memorization and return. The models and mechanisms ...
Added: April 29, 2026
Dergachev S., Yakovlev K., , in: 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).: IEEE, 2025. P. 12456–12463.
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for both kinematic constraints, sensing and action execution noise. In this paper, we propose a novel approach that integrates the Model Predictive Path Integral (MPPI) with a probabilistic adaptation of Optimal Reciprocal Collision ...
Added: March 2, 2026
Karpova I. P., Robotics and Autonomous Systems 2025 Vol. 193 Article 105082
This paper describes a method for mobile robot navigation that is similar to the navigation mechanism of social insects. Unlike other bio-inspired methods that mimic certain morphological features of animals or separate natural mechanisms, the proposed approach is based on the phenomenology of the behaviour of some ant species during collective foraging. This method does ...
Added: June 3, 2025
Karpova I. P., Евразиатский энтомологический журнал 2024 Vol. 23 No. 5 P. 276–282
The paper describes a bio-inspired mechanism for orientation and navigation of mobile robots based on navigation elements of some ant species, namely: Camponotus pennsylvanicus (De Geer, 1773), Formica subsericea Say, 1836, F. rufa Linnaeus, 1761, Cataglyphis fortis (Forel, 1902), Melophorus bagoti Lubbock, 1883 and Myrmecia pyriformis Smith, 1858. The path is represented as a sequence ...
Added: December 17, 2024
I.P. Karpova, V. E. Karpov, Automation and Remote Control 2024 Vol. 85 No. 7 P. 641–651
This paper explores the problem of influencing the environment by a group of autonomous robots through the creation and use of road infrastructure. The model object is ant roads (trails). We identify the main aspects of the behavior of different ant species in the process of collective foraging, and actions that together lead to the ...
Added: November 6, 2024