Лаборатория алгоритмов мобильных роботов
Публикации
Imitation Learning Approach for AI Driving Olympics Trained on Real-world and Simulation Data Simultaneously
Июль 2020
Mikita Sazanovich, Konstantin Chaika, Kirill Krinkin, Aleksei Shpilman
Research Challenges Of Industry 4.0
Январь 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.
Optimizing UAV-to-Car Communications in 3D Environments Through Dynamic UAV Positioning
Октябрь 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
Апрель 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.
Mobile Robot Pose Estimation Based on Position/Velocity Sensor Fusion
Апрель 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
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.
Evaluation of Modern Laser Based Indoor SLAM Algorithms
Май 2018
Kirill Krinkin, Anton Filatov, Artyom Filatov, A. Huletski, D. Kartashov
Data Distribution Services Performance Evaluation Framework
Май 2018
K. Krinkin, An. Filatov, Ar. Filatov, O. Kurishev, A.Lyanguzov
Generator of 2D laser scan based datasets for ROS
2018
Arthur Huletski, Dmitriy Kartashov and Kirill Krinkin
Методы сравнения качества 2D-SLAM-алгоритмов
2018
Ар. Ю. Филатов, Ан. Ю. Филатов, К. В. Кринкин, Б. Чен, Д. Молодан
Сравнение современных лазерных алгоритмов SLAM
2018
Ар. Ю. Филатов, Ан. Ю. Филатов, А. Т. Гулецкий, Д. А. Карташов, К. В. Кринкин
Архитектура платформы для создания мобильных приложений с OUTDOOR-квестами
2018
Мокрецов Р. М., Заславский М. М.
VinySLAM: An indoor SLAM method for low-cost platforms based on the Transferable Belief Model
Сентябрь 2017
Arthur Huletski; Dmitriy Kartashov; Kirill Krinkin
2D SLAM Quality Evaluation Methods
Август 2017
An. Filatov, Ar. Filatov, K. Krinkin, B. Chen, D. Molodan
Chaordic Learning: A Case Study
2017
Stephan Krusche, Irina Camilleri, Andreas Seitz, Cecil Wöbker, Kirill Krinkin and Bernd Bruegge
System for Automatic Checking of Student Solutions for Linux Programming MOOCs
2017
M. Zaslavskiy, M. Kanushin
Метод обработки в реальном времени открытых данных, содержащих гео-контекстную разметку
2017
Заславский М. М., Баландин С. И., Блеес Э. И.
Cluster Based Approach to Minimize Delay in Energy Aware Routing for IEEE 802.11s Wireless Mesh Networks Under Mobility Conditions
Ноябрь 2016
Sp. S. Prakash Tn. Nagabhushan, K. Krinkin
Full Automated Continuous Integration and Testing Infrastructure for Maxscale and MariaDB
Ноябрь 2016
Zaslavskiy M., Kaluzhniy A., Berlenko T., Kinyaev I., Krinkin K., Turenko T
The Scan Matchers Research and Comparison: Monte-Carlo, Olson and Hough
Ноябрь 2016
K. Krinkin, An. Filatov, Ar. Filatov, A. Huletski D. Kartashov
A Non-repetitive Logic for Verification of Dynamic Memory with Explicit Heap Conjunction and Disjunction
Октябрь 2016
Haberland R., Krinkin K.
A SLAM research framework for ROS
Октябрь 2016
A. Huletski, D. Kartashov
The SLAM Constructor Framework for ROS [Poster presentation]
Октябрь 2016
A. Huletski, D. Kartashov, K. Krinkin
TinySLAM Improvements for Indoor Navigation
Октябрь 2016
A. Huletski, D. Kartashov, K. Krinkin
Abstract predicate entailment over points-to heaplets is syntax recognition
Апрель 2016
Haberland R., Krinkin K., Ivanovskiy S.
Верификация объектно-ориентированных программ с динамической памятью на основе ссылочной модели
Январь 2016
Р. Хаберланд, С. А. Ивановский, К. В. Кринкин
Метод импорта и обработки открытых данных в LBS-платформе
2016
Заславский М. М., Баландин С. И.
Evaluation of the Modern Visual SLAM Methods
Ноябрь 2015
K. Krinkin, D. Kartashov, A. Huletski
Design and Implementation Raspberry Pi-based Omni-wheel Mobile Robot
Ноябрь 2015
K. Krinkin, Elena Stotskaya, Yury Stotskiy
Fast Artificial Landmark Detection for Indoor Mobile Robots
Сентябрь 2015
K. Krinkin, D. Kartashov, A. Huletski
Proximity points approach for building recommendation system for the “Open Karelia” information system
Июнь 2015
Berlenko T.A., Krinkin K., Zaslavskiy M.
Lightweight Linux dynamic libraries profiling technique for embedded systems
Октябрь 2013
M. Zaslavskiy, E. Ryabikov, K. Krinkin