Research group

Mobile Robot Algorithms Laboratory

Publications

Imitation Learning Approach for AI Driving Olympics Trained on Real-world and Simulation Data Simultaneously

July 2020

Mikita Sazanovich, Konstantin Chaika, Kirill Krinkin, Aleksei Shpilman

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Research Challenges Of Industry 4.0

January 2020

Konstantin Chaika

The paper describes the definitions of industry 4.0 and the factors that influence their formation. It describes the areas that it affects and which are involved in the formation of a new generation industry. Paper also discusses problems that arise in areas related to industry 4.0 when combining them and possible ways to solve them, especially the organization of the production process. Making a focus on properties of software for industrial devices.

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Optimizing UAV-to-Car Communications in 3D Environments Through Dynamic UAV Positioning

October 2019

Seilendria A. Hadiwardoyo , Carlos T. Calafate, Juan-Carlos Cano, Kirill Krinkin, Dmitry Klionskiy, Enrique Hernandez-Orallo, Pietro Manzoni

Unmanned Aerial Vehicles can act as relays in areas with limited infrastructure to support car-to-car communications. Prior studies on UAV-to-car communications showed that the irregularity of the terrains has a significant impact on link quality. Thus, in this paper, we propose a positioning technique that relies on Particle Swarm Optimization to optimize the positioning of a UAV in the vehicular environment by considering the irregularities of the terrains that might hinder Line-of-Sight conditions. The proposed technique takes into account the path loss caused by the terrains.

Multi-Agent SLAM Approaches for Low-Cost Platforms

April 2019

Anton Filatov, Krinkin Kirill

Modern SLAM (Simultaneous Localization and Mapping) algorithms launched on a moving agent are bounded with its computation resources. The consistent way out is to add more computing agents that might explore the environment quicker than one and thus to decrease the load of each agent. This paper presents the state of art in area of Multi-agent SLAM algorithms and describes problems that are faced in front of a developer of such approach. The outstanding problem of Multiagent SLAM - merging of maps built by separate agent during algorithm is also considered in this paper. Moreover the algorithm that extends laser 2D single hypothesis SLAM for multiple agents is introduced with evaluation of its performance.

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Mobile Robot Pose Estimation Based on Position/Velocity Sensor Fusion

April 2019

Kirill Krinkin, Artyom Filatov

An autonomous self driving platform receives information about environment using only its onboard sensors. And it seems obvious that using several sensors could provide more certain information with reduced measurement error. But a general question is how to fuse measurements from different kinds of sensors (like a camera and an accelerometer) to get refined data about a platform or world state. This paper presents a theory based on groups that proves a possibility of correctness of error extraction from a moving model. And there are results of application this theory on fusing measurements from two sensors: odometer and scan matcher

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Исследование критериев соответствия текста научному стилю

2019

Блеес Э.И., Заславский М.М.

Архитектура программных систем в контексте технологий Индустрии 4.0

2019

К. В. Чайка , К. В. Кринкин , Ар. Ю. Филатов , Ан. Ю. Филатов

Организация дисциплины "Введение в программную инженерию" как способ комплексного погружения студентов в специальность

2019

Берленко Т.А., Заславский М.М, Чайка К.В., Кринкин К.В.

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Evaluation of Modern Laser Based Indoor SLAM Algorithms

May 2018

Kirill Krinkin, Anton Filatov, Artyom Filatov, A. Huletski, D. Kartashov

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Data Distribution Services Performance Evaluation Framework

May 2018

K. Krinkin, An. Filatov, Ar. Filatov, O. Kurishev, A.Lyanguzov

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Generator of 2D laser scan based datasets for ROS

2018

Arthur Huletski, Dmitriy Kartashov and Kirill Krinkin

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Методы сравнения качества 2D-SLAM-алгоритмов

2018

Ар. Ю. Филатов, Ан. Ю. Филатов, К. В. Кринкин, Б. Чен, Д. Молодан

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Сравнение современных лазерных алгоритмов SLAM

2018

Ар. Ю. Филатов, Ан. Ю. Филатов, А. Т. Гулецкий, Д. А. Карташов, К. В. Кринкин

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Архитектура платформы для создания мобильных приложений с OUTDOOR-квестами

2018

Мокрецов Р. М., Заславский М. М.

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VinySLAM: An indoor SLAM method for low-cost platforms based on the Transferable Belief Model

September 2017

Arthur Huletski; Dmitriy Kartashov; Kirill Krinkin

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2D SLAM Quality Evaluation Methods

August 2017

An. Filatov, Ar. Filatov, K. Krinkin, B. Chen, D. Molodan

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Chaordic Learning: A Case Study

2017

Stephan Krusche, Irina Camilleri, Andreas Seitz, Cecil Wöbker, Kirill Krinkin and Bernd Bruegge

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System for Automatic Checking of Student Solutions for Linux Programming MOOCs

2017

M. Zaslavskiy, M. Kanushin

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Метод обработки в реальном времени открытых данных, содержащих гео-контекстную разметку

2017

Заславский М. М., Баландин С. И., Блеес Э. И.

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Cluster Based Approach to Minimize Delay in Energy Aware Routing for IEEE 802.11s Wireless Mesh Networks Under Mobility Conditions

November 2016

Sp. S. Prakash Tn. Nagabhushan, K. Krinkin

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Full Automated Continuous Integration and Testing Infrastructure for Maxscale and MariaDB

November 2016

Zaslavskiy M., Kaluzhniy A., Berlenko T., Kinyaev I., Krinkin K., Turenko T

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The Scan Matchers Research and Comparison: Monte-Carlo, Olson and Hough

November 2016

K. Krinkin, An. Filatov, Ar. Filatov, A. Huletski D. Kartashov

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A Non-repetitive Logic for Verification of Dynamic Memory with Explicit Heap Conjunction and Disjunction

October 2016

Haberland R., Krinkin K.

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A SLAM research framework for ROS

October 2016

A. Huletski, D. Kartashov

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The SLAM Constructor Framework for ROS [Poster presentation]

October 2016

A. Huletski, D. Kartashov, K. Krinkin

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TinySLAM Improvements for Indoor Navigation

October 2016

A. Huletski, D. Kartashov, K. Krinkin

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Abstract predicate entailment over points-to heaplets is syntax recognition

April 2016

Haberland R., Krinkin K., Ivanovskiy S.

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Верификация объектно-ориентированных программ с динамической памятью на основе ссылочной модели

January 2016

Р. Хаберланд, С. А. Ивановский, К. В. Кринкин

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Метод импорта и обработки открытых данных в LBS-платформе

2016

Заславский М. М., Баландин С. И.

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Evaluation of the Modern Visual SLAM Methods

November 2015

K. Krinkin, D. Kartashov, A. Huletski

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Design and Implementation Raspberry Pi-based Omni-wheel Mobile Robot

November 2015

K. Krinkin, Elena Stotskaya, Yury Stotskiy

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Fast Artificial Landmark Detection for Indoor Mobile Robots

September 2015

K. Krinkin, D. Kartashov, A. Huletski

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Proximity points approach for building recommendation system for the “Open Karelia” information system

June 2015

Berlenko T.A., Krinkin K., Zaslavskiy M.

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Lightweight Linux dynamic libraries profiling technique for embedded systems

October 2013

M. Zaslavskiy, E. Ryabikov, K. Krinkin

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