?
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
P. 80–85.
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For local path following we use Model Predictive Path Integral (MPPI) control method. We propose novel cost-functions for MPPI in order to adapt it to elevation maps and motion through unevenness. We evaluate our system on multiple synthetic tests and in a simulated environment with different types of obstacles and rough surfaces.
In book
Vol. 55. Issue 38: 13th IFAC Symposium on Robot Control SYROCO 2022. , Elsevier, 2022.
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
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
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
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
Mirzoian V., Mustafin M., Magid E., , 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. 281–285.
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
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
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
Лавренов Р. О., Magid E., Мацуно Ф. et al., Информатика и автоматизация (Труды СПИИРАН) 2019 Т. 18 № 1 С. 57–84
Path planning for autonomous mobile robots is an important task within robotics field. It is common to use one of the two classical approaches in path planning: a global approach when an entire map of a working environment is available for a robot or local methods, which require the robot to detect obstacles with a ...
Added: November 9, 2021
Yang B., Hsia K., Su K. et al., , in: 2020 International Conference on Artificial Life and Robotics (ICAROB).: ALife Robotics Corporation Ltd., 2020. Ch. OS18-7 P. 147–150.
Added: November 9, 2021
Sagitov A., Takano T., Muto S. et al., , in: 2019 International Conference on Artificial Life and Robotics (ICAROB).: ALife Robotics Corporation Ltd., 2019. Ch. OS4-4 P. 120–123.
Reinforcement learning based approaches show promises in various robotic applications, but a significant amount of time and resources are required for a robot to learn optimal behavior. Using virtual environments, we could significantly speed up and improve performance of a target task. We implemented a reinforcement learning based exploration algorithm for a mobile robot, training ...
Added: November 9, 2021
Safin R., Lavrenov R., Tsoy T. et al., , in: Interactive Collaborative Robotics: 6th International Conference, ICR 2021, St. Petersburg, Russia, September 27–30, 2021, Proceedings.: Springer, 2021. Ch. 16 P. 182–193.
This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms. The UGVs navigate in the environment with moving objects in accordance with basic traffic ...
Added: October 21, 2021
Safin R., Lavrenov R., Hsia K. et al., , in: 2022 International Siberian Conference on Control and Communications (SIBCON).: IEEE, 2022. Ch. 9438875.
Added: October 11, 2021
Yakovlev K., Andreychuk A., Stern R., , in: Proceedings of the 30th International Conference on Automated Planning and Scheduling (ICAPS 2020).: AAAI Press, 2020. P. 300–304.
Added: October 21, 2020
Soboleva Natalia, Yakovlev K., , in: Proceedings of the 42nd German Conference on Artificial Intelligence (KI 2019), Kassel, Germany, September 23-26, 2019.: Springer, 2019. P. 316–324.
2D path planning in static environment is a well-known problem and one of the common ways to solve it is to (1) represent the environment as a grid and (2) perform a heuristic search for a path on it. At the same time 2D grid resembles much a digital image, thus an appealing idea comes ...
Added: February 3, 2020
Natalia Soboleva, Konstantin Yakovlev, , in: Proceedings 16th Russian Conference on Artificial Intelligence (RCAI 2018)Issue 934.: Cham: Springer, 2018. P. 206–217.
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem is harder to solve than the one when shortest paths of any shape are sought, since the ...
Added: August 14, 2019
Andreychuk A., Yakovlev K., , in: Interactive Collaborative Robotics: Third International Conference, ICR 2018, Leipzig, Germany, September 18–22, 2018, Proceedings.: Springer, 2018. P. 13–22.
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of lower cost, e.g. time ...
Added: August 13, 2019
DAAAM International Publishing, 2018.
The 29th DAAAM International Symposium on Intelligent Manufacturing and Automation took place in Zadar, Croatia between the 24th and 27th October 2018, during the DAAAM International Week. The Symposium was organized by DAAAM International Vienna in cooperation with ÖIAV 1848, Vienna University of Technology, International Academy of Engineering and University of Applied Sciences – Technikum ...
Added: December 25, 2018