Mobile Robot Algorithms Laboratory

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Publications

May 2022
Paul Schmiedmayer, Robert Chatley, Jan Philip Bernius, Stephan Krusche, Konstantin Chaika, Kirill Krinkin, Bernd Bruegge

Global software engineering in a global classroom

Global Classroom

July 2020
Mikita Sazanovich, Konstantin Chaika, Kirill Krinkin, Aleksei Shpilman

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

Workshop on AI for Autonomous Driving (AIAD), the 37th International Conference on Machine Learning (ICML2020)

January 2020
Konstantin Chaika

Research Challenges Of Industry 4.0

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.

International Scientific Journal Industry 4.0

October 2019
Seilendria A. Hadiwardoyo , Carlos T. Calafate, Juan-Carlos Cano, Kirill Krinkin, Dmitry Klionskiy, Enrique Hernandez-Orallo, Pietro Manzoni

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

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.

Proceedings of the 2019 IEEE/ACM 23rd International Symposium on Distributed Simulation and Real Time Applications (DS-RT)

April 2019
Anton Filatov, Krinkin Kirill

Multi-Agent SLAM Approaches for Low-Cost Platforms

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.

Proceedings of the 24th Conference of Open Innovations Association FRUCT

April 2019
Kirill Krinkin, Artyom Filatov

Mobile Robot Pose Estimation Based on Position/Velocity Sensor Fusion

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

2019
Blees E.I., Zaslavsky M.M.

Exploring the criteria for text consistency with scientific style

Scientific and Technical Journal of Information Technology, Mechanics and Optics. Vol. 19. № 2. pp. 299-305. doi:10.17586/2226-1494-2019-19-2-299-305

2019
К. V. Chaika , K. V. Krinkin , Ar. Y. Filatov , An. Y. Filatov

Software system architecture in the context of Industry 4.0 technologies

Proceedings of XXII International Conference on Soft Computing and Measurement (SCM 2019)

2019
Berlenko T.A., Zaslavsky M.M., Chaika K.V., Krinkin K.V.

Organization of the discipline "Introduction to Software Engineering" as a way of complex immersion of students in the specialty

Materials of XXV International Scientific and Methodical Conference // Modern Education: contents, technologies, quality

May 2018
Kirill Krinkin, Anton Filatov, Artyom Filatov, A. Huletski, D. Kartashov

Evaluation of Modern Laser Based Indoor SLAM Algorithms

Proceedings of the 22st Conference of Open Innovations Association FRUCT

May 2018
K. Krinkin, An. Filatov, Ar. Filatov, O. Kurishev, A.Lyanguzov

Data Distribution Services Performance Evaluation Framework

Proceedings of the 22st Conference of Open Innovations Association FRUCT

2018
Arthur Huletski, Dmitriy Kartashov, Kirill Krinkin

Generator of 2D laser scan based datasets for ROS

2018
Ar. Y. Filatov, An. Y. Filatov, K. V. Krinkin, B. Chen, D. Molodan

Quality comparison methods for 2D-SLAM algorithms

"Izvestiya LETI", No. 8, pp. 87-95.

2018
Ar. Y. Filatov, An. Y. Filatov, A. T. Guletsky, D. A. Kartashov, K. V. Krinkin

Comparison of modern laser SLAM algorithms

"Izvestia LETI"

2018
Mokretsov R. M., Zaslavsky M. M.

Platform architecture for creating mobile applications with OUTDOOR quests

Scientific and Technical Journal of Information Technologies, Mechanics and Optics. Vol. 18. № 3. pp. 511-520.

September 2017
Arthur Huletski; Dmitriy Kartashov; Kirill Krinkin

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

Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference

August 2017
An. Filatov, Ar. Filatov, K. Krinkin, B. Chen, D. Molodan

2D SLAM Quality Evaluation Methods

2017
Stephan Krusche, Irina Camilleri, Andreas Seitz, Cecil Wöbker, Kirill Krinkin, Bernd Bruegge

Chaordic Learning: A Case Study

2017
M. Zaslavskiy, M. Kanushin

System for Automatic Checking of Student Solutions for Linux Programming MOOCs

Second Conference on Software Engineering and Information Management (SEIM-2017) (short papers)

2017
Zaslavsky M. M., Balandin S. I., Blees E. I.

A method for real-time processing of open data containing geo-context markup

Scientific and Technical Journal of Information Technologies, Mechanics and Optics. Vol. 17. № 5. pp. 850-858.

November 2016
Sp. S. Prakash Tn. Nagabhushan, K. Krinkin

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

Proceedings 19th Conference of Open Innovations Association FRUCT — Finland, University of Jyväskylä, 9-11 Nov 2016 Pp: 189-195

November 2016
Zaslavskiy M., Kaluzhniy A., Berlenko T., Kinyaev I., Krinkin K., Turenko T

Full Automated Continuous Integration and Testing Infrastructure for Maxscale and MariaDB

Proceedings of the 19th Conference of Open Innovations Association FRUCT

November 2016
K. Krinkin, An. Filatov, Ar. Filatov, A. Huletski, D. Kartashov

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

Proceedings 19th Conference of Open Innovations Association FRUCT — Finland, University of Jyväskylä, 9-11 Nov 2016, Pp 99-105

October 2016
Haberland R., Krinkin K.

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

The Tenth International Conference on Advanced Engineering Computing and Applications in Sciences (ADVCOMP 2016) ISBN: 978-1-61208-506-7 Pp. 1-9

October 2016
A. Huletski, D. Kartashov

A SLAM research framework for ROS

Central & Eastern European Software Engineering Conference in Russia (CEE-SECR ’16)

October 2016
A. Huletski, D. Kartashov, K. Krinkin

The SLAM Constructor Framework for ROS [Poster presentation]

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9-14, 2016, Daejeon, Daejeon, Korea

October 2016
A. Huletski, D. Kartashov, K. Krinkin

TinySLAM Improvements for Indoor Navigation

2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems Sept 19-21, 2016, Baden-Baden, Germany

April 2016
Haberland R., Krinkin K., Ivanovskiy S.

Abstract predicate entailment over points-to heaplets is syntax recognition

Proceedings 18th Conference of Open Innovations Association and Seminar on Information Security and Protection of Information Technology (FRUCT-ISPIT), 2016 Pp. 66-74

January 2016
Р. Haberland, S. A. Ivanovsky, K. V. Krinkin

Verification of object-oriented programs with dynamic memory based on the reference model

Izvestiya SPbGETU "LETI"

2016
Zaslavsky M. M., Balandin S. I.

Method of open data import and processing in LBS-platform

Scientific and Technical Journal of Information Technologies, Mechanics and Optics. Vol. 16. № 5. pp. 816-822.

November 2015
K. Krinkin, D. Kartashov, A. Huletski

Evaluation of the Modern Visual SLAM Methods

AINL-ISMW FRUCT Conference Proceedings

November 2015
K. Krinkin, Elena Stotskaya, Yury Stotskiy

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

PROCEEDING OF THE AINL-ISMW FRUCT CONFERENCE

September 2015
K. Krinkin, D. Kartashov, A. Huletski

Fast Artificial Landmark Detection for Indoor Mobile Robots

FedCSIS proceedings

June 2015
Berlenko T.A., Krinkin K., Zaslavskiy M.

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

Proceedings of International Conference on Soft Computing and Measurements, SCM 2015

October 2013
M. Zaslavskiy, E. Ryabikov, K. Krinkin

Lightweight Linux dynamic libraries profiling technique for embedded systems

In Proceedings of the 9th Central & Eastern European Software Engineering Conference in Russia (CEE-SECR ’13). ACM, New York, NY, USA, , Article 6 , 5 pages. DOI=10.1145/2556610.2556618