ResearcherID: J-5636-2015
Scopus AuthorID: 55832489200
ORCID: 0000-0002-4377-321X
Google.Scholar
arXiv
dblp
SPIN RSCI: 8073-5930 (Russian Science Citation Index)

---

2021 || 2020 || 2019 || 2018 || 2017 || 2016 || 2015 || 2014

---

2021 (to top)

Andreychuk A., Yakovlev K., Boyarski E., Stern R. Improving Continuous-time Conflict Based Search // In Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI 2021). pp. 11220-11227.
https://ojs.aaai.org/index.php/AAAI/article/view/17338
https://arxiv.org/abs/2101.09723

Extended abstract of this paper also appeared at SoCS 2021:
Andreychuk A., Yakovlev K., Boyarski E., Stern R. Improving Continuous-time Conflict Based Search // In Proceedings of the In Proceedings of the 14th International Symposium on Combinatorial Search (SoCS 2021). pp. 145–146.

Yakovlev K., Andreychuk A. Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles // In Proceedings of the 31st International Conference on Automated Planning and Scheduling (ICAPS 2021). pp. 405-414.
https://ojs.aaai.org/index.php/ICAPS/article/view/15986
https://arxiv.org/abs/2104.06681

Skrynnik A., Yakovleva A., Davydov V., Yakovlev K., Panov A.I. Hybrid Policy Learning for Multi-Agent Pathfinding // IEEE Access, 9, 2021. pp. 126034-126047.
https://ieeexplore.ieee.org/abstract/document/9532001

Rybecky T., Kulich M., Andreychuk A., Yakovlev K. Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning // In Proceedings of the 14th International Symposium on Combinatorial Search (SoCS 2021). pp. 136–140.
https://ojs.aaai.org/index.php/SOCS/article/view/18562

Dergachev S, Yakovlev K. Distributed Multi-Agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-Agent Path Finding // In Proceedings of the IEEE 17th International Conference on Automation Science and Engineering (CASE 2021). pp. 1489-1494.
https://ieeexplore.ieee.org/abstract/document/9551564
https://arxiv.org/abs/2107.00246

Ali Z. A., Angulo B., Golovin V., Yakovlev K. Empirical Evaluation of Theta*-RRT and GRIPS Algorithms // In Proceedings of the 2021 International Siberian Conference on Control and Communications (SIBCON 2021). pp. 1-6.
https://ieeexplore.ieee.org/document/9438901

Muravyev K., Bokovoy A., Yakovlev K. Enhancing exploration algorithms for navigation with visual SLAM // In Proceedings of the 19th Russian Conference on Artificial Intelligence (RCAI 2021). pp. 197-212.
https://link.springer.com/chapter/10.1007/978-3-030-86855-0_14
https://arxiv.org/abs/2110.09156

Davydov V., Skrynnik A., Yakovlev K., Panov A. Q-Mixing Network for Multi-agent Pathfinding in Partially Observable Grid Environments // In Proceedings of the 19th Russian Conference on Artificial Intelligence (RCAI 2021). pp. 169-179.
https://link.springer.com/chapter/10.1007/978-3-030-86855-0_12
https://arxiv.org/abs/2108.06148

Angulo B., Radionov I., Yakovlev K. Augmenting GRIPS with Heuristic Sampling for Planning Feasible Trajectories of a Car-Like Robot // In Proceedings of the 2021 European Conference on Mobile Robots (ECMR 2021). pp. 1-6.
https://ieeexplore.ieee.org/document/9568818
https://arxiv.org/abs/2108.06789

Ali Z.A., Yakovlev K. Prioritized SIPP for Multi-agent Path Finding with Kinematic Constraints // In Proceedings of the 6th International Conference on Interactive Collaborative Robotics (ICR 2021). pp. 1-13.
https://link.springer.com/chapter/10.1007/978-3-030-87725-5_1
https://arxiv.org/abs/2108.05145

---

2020 (to top)

Yakovlev K., Andreychuk A., Stern R. Revisiting Bounded-Suboptimal Safe Interval Path Planning // In Proceedings of the 30th International Conference on Automated Planning and Scheduling (ICAPS 2020). pp. 300-304.
https://aaai.org/ojs/index.php/ICAPS/article/view/6674
https://arxiv.org/abs/2006.01195
Video

Abbyasov B., Lavrenov, R., Zakiev, A., Yakovlev K., Svinin M., Magid E. Automatic Tool for Gazebo World Construction: From a Grayscale Image to a 3D Solid Model // In Proceedings of the IEEE 2020 International Conference on Robotics and Automation (ICRA 2020). pp. 7226-7232.
https://ieeexplore.ieee.org/document/9196621

Yakovlev K., Andreychuk A., Rybecky T., Kulich M. On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem // In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020). pp. 521-528
https://www.scitepress.org/Link.aspx?doi=10.5220/0009888905210528
Video

Bokovoy A., Muraviev K., Yakovlev K. Map-Merging Algorithms for Visual SLAM: Feasibility Study and Empirical Evaluation // In Proceedings of the 18th Russian Conference on Artificial Intelligence (RCAI 2020). pp. 46-40.
https://link.springer.com/chapter/10.1007/978-3-030-59535-7_4
https://arxiv.org/abs/2009.05819
Dataset and tools

Dergachev S., Yakovlev K., Prakapovich R. A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation // In Proceedings of the 5th International Conference on Interactive Collaborative Robotics (ICR 2020). pp. 55-66.
https://link.springer.com/chapter/10.1007/978-3-030-60337-3_6
https://arxiv.org/abs/2008.01227

Khokhlov I., Litvinenko V., Ryakin I., Yakovlev K. (2020) Planning to Score a Goal in Robotic Football with Heuristic Search // In Proceedings of the 5th International Conference on Interactive Collaborative Robotics (ICR 2020),. pp. 148-159.
https://link.springer.com/chapter/10.1007/978-3-030-60337-3_15
https://arxiv.org/abs/2008.00851

Chebotareva E., Hsia K.-H., Yakovlev K., Magid E. Laser Rangefinder and Monocular Camera Data Fusion for Human-Following Algorithm by PMB-2 Mobile Robot in Simulated Gazebo Environment // In Proceedings of the 15th International Conference on Electromechanics and Robotics “Zavalishin’s Readings 2020”. pp. 357-369.
https://link.springer.com/chapter/10.1007/978-981-15-5580-0_29

[Papers in Russian]

---

2019 (to top)

Andreychuk A., Yakovlev K., Atzmon D., Stern R. Multi-Agent Pathfinding with Continuous Time // In Proceedings of the 28th International Joint Conference on Artificial Intelligence (IJCAI 2019), Macao, China, August 10–16, 2019. pp. 39-45.
https://www.ijcai.org/proceedings/2019/6
https://arxiv.org/abs/1901.05506

Yakovlev K., Andreychuk A., Vorobyev V. Prioritized Multi-Agent Path Finding for Differential Drive Robots // In Proceedings of the 2019 European Conference on Mobile Robots (ECMR 2019), Prague, Czech Republic, September 4-6, 2019. pp. 1-6.
https://ieeexplore.ieee.org/document/8870957
https://arxiv.org/abs/1911.10578
Video demo

Bokovoy A., Muravyev K., Yakovlev K. Real-time Vision-based Depth Reconstruction with NVidia Jetson // In Proceedings of the 2019 European Conference on Mobile Robots (ECMR 2019), Prague, Czech Republic, September 4-6, 2019. pp.  1-6.
https://ieeexplore.ieee.org/document/8870936
https://arxiv.org/abs/1907.07210
Video demo

Soboleva N., Yakovlev K. GAN Path Finder: Preliminary results // In Proceedings of the 42nd German Conference on Artificial Intelligence (KI 2019), Kassel, Germany, September 23-26, 2019. pp. 316-324.
https://link.springer.com/chapter/10.1007/978-3-030-30179-8_28
https://arxiv.org/abs/1908.01499

Yakovlev K., Andreychuk A., Belinskay Ju., Makarov D. Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results // In Proceedings of the 4th International Conference on Interactive Collaborative Robotics (ICR 2019), Istanbul, Turkey, August 20-25, 2019. pp. 310-319.
https://link.springer.com/chapter/10.1007/978-3-030-26118-4_30
https://arxiv.org/abs/1906.06911

Soboleva N., Yakovlev K. LPLian: Angle-constrained Path Finding in Dynamic Grids // In Proceedings of the 12th International Conference on the Developments in eSystems Engineering (DeSE 2019), Kazan, Russia, October 7-10, 2019. pp. 48-53.
https://ieeexplore.ieee.org/document/9073256

Denisov E., Sagitov A., Yakovlev K., Su K.L., Svinin M., Magid E. Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment // In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), Prague, Czech Republic, July 29-31, 2019. pp. 409-416
https://www.scitepress.org/PublicationsDetail.aspx?ID=bNy8ZRrus2w=&t=1

[Papers in Russian]

---

2018 (to top)

Andreychuk A., Yakovlev K. (2018)  Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning // In Proceedings of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10–15, 2018. pp. 2177-2179.
http://ifaamas.org/Proceedings/aamas2018/pdfs/p2177.pdf
https://dl.acm.org/citation.cfm?id=3237383.3238112
https://arxiv.org/abs/1805.01270

Andreychuk A., Yakovlev K. (2018) Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results) // Federated AI for Robotics Workshop (FAIR 2018), Stockholm, Sweden, July 15 2018.
https://arxiv.org/abs/1807.01909

Andreychuk A., Yakovlev K. (2018) Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles // In Proceedings of the 3rd International Conference on Interactive Collaborative Robotics (ICR-2018), Leipzig, Germany, September 18-22, 2018. pp. 13-22.
https://link.springer.com/chapter/10.1007/978-3-319-99582-3_2
https://arxiv.org/abs/1807.00771

Bokovoy A., Yakovlev, K. (2018) Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation // In Proceedings of the 3rd International Conference on Interactive Collaborative Robotics (ICR-2018), Leipzig, Germany, September 18-22, 2018. pp. 23-33.
https://link.springer.com/chapter/10.1007/978-3-319-99582-3_3
https://arxiv.org/abs/1806.09346

Andreychuk A., Soboleva N., Yakovlev K. (2018) eLIAN: Enhanced Algorithm for Angle-Constrained Path Finding // In Proceedings of the 16th Russian Conference on Artificial Intelligence (RCAI-2018), Moscow, Russia, September 24-27, 2018. pp. 206-217.
https://link.springer.com/chapter/10.1007/978-3-030-00617-4_19
https://arxiv.org/abs/1811.00797

Panov A.I., Suvorov R., Yakovlev K.S. (2018) Grid Path Planning with Deep Reinforcement Learning: Preliminary Results // In Proceedings of the 8th Annual International Conference on Biologically Inspired Cognitive Architectures, BICA 2017, held August 1-6, 2017 in Moscow, Russia. pp. 347–353. Elsevier.
https://www.sciencedirect.com/science/article/pii/S1877050918300553

Bokovoy A., Yakovlev K. (2018) Original Loop-closure Detection Algorithm for Monocular vSLAM // In Proceedings of the 6th International Conference on Analysis of Images, Social Networks, and Texts (AIST-2017), Moscow, Russia, July 27-29. pp 210-220.
https://link.springer.com/chapter/10.1007/978-3-319-73013-4_19
https://arxiv.org/abs/1707.04771

[Papers in Russian]

---

2017 (to top)

Yakovlev, K., Andreychuk, A. (2017) Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm. In Proceedings of the 27^th International Conference on Automated Planning and Scheduling (ICAPS 2017), Pittsburgh, PA, USA, June 18-23, 2017. pp. 586-593.
https://aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15652/
https://arxiv.org/abs/1703.04159

Andreychuk A., Yakovlev K. (2017) Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments. In Proceedings of the 2^nd International Conference on Interactive Collaborative Robotics (ICR 2017), Hatfield, UK, September 12-16, 2017. pp. 1-10.
https://link.springer.com/chapter/10.1007/978-3-319-66471-2_1
https://arxiv.org/abs/1707.06607

Andreychuk A.A., Yakovlev K.S. Two-Dimensional Path Finding Subject to Geometric Constraints // Journal of Computer and Systems Sciences International, 2017, Vol. 56, No. 6. pp. 1021–1036.
https://link.springer.com/article/10.1134/S1064230717060028

Vokhmintsev A., Timchenko M., Yakovlev K. (2017) Simultaneous Localization and Mapping in Unknown Environment using Dynamic Matching of Images and Registration of Point Clouds. In proceedings of the 2^nd IEEE International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM 2016), Chelyabinsk, Russia, May 19-20 2016.
http://ieeexplore.ieee.org/document/7910967/

Vokhmintcev A., Yakovlev K. (2017) A Real-Time Algorithm for Mobile Robot Mapping Based on Rotation-Invariant Descriptors and Iterative Close Point Algorithm. In proceedings of the 5^th International Conference on Analysis of Images, Social Networks and Texts (AIST 2016), Yekaterinburg, Russia, April 7-9, 2016. pp. 357-369.
http://link.springer.com/chapter/10.1007/978-3-319-52920-2_33

[Papers in Russian]

---

2016 (to top)

Emel’yanov, S., Makarov, D., Panov, A., Yakovlev, K. Multilayer cognitive architecture for UAV control // Cognitive Systems Research, 39, 2016. pp. 58-72.
http://www.sciencedirect.com/science/article/pii/S1389041716000048

Panov A.I., Yakovlev K. (2016) Psychologically Inspired Planning Method for Smart Relocation Task. In Proceedings of The 7th Annual International Conference on Biologically Inspired Cognitive Architectures, BICA 2016, held July 16 to July 19, 2016 in New York City, NY, USA. pp. 115-124.
http://www.sciencedirect.com/science/article/pii/S1877050916316702
https://arxiv.org/abs/1607.08181

Yakovlev K., Andreychuk A. (2016). Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths. In Proceedings of The 2^nd International Workshop on Multi-Agent Path Finding, New-York, USA, 10 July 2016.
http://www.andrew.cmu.edu/user/gswagner/workshop/ijcai_2016_multirobot_path_finding.html
https://arxiv.org/abs/1608.02763

Khithov, V., Petrov, A., Tishchenko, I., Yakovlev, K. (2016). Toward autonomous UAV landing based on infrared beacons and particle filtering. In Proceedings of The 4^th International Conference on Robot Intelligence Technology and Applications (RiTA 2015), Bucheon, Korea, December 14-16, 2015. pp. 529-537.
http://link.springer.com/chapter/10.1007/978-3-319-31293-4_43
https://arxiv.org/abs/1702.02735

Panov A.I., Yakovlev K. (2016). Behavior and path planning for the coalition of cognitive robots in smart relocation tasks. In Proceedings of The 4^th International Conference on Robot Intelligence Technology and Applications (RiTA 2015), Bucheon, Korea, December 14-16, 2015. pp. 3-20.
http://link.springer.com/chapter/10.1007/978-3-319-31293-4_1
https://arxiv.org/abs/1607.08038

[Papers in Russian]

---

2015 (to top)
Yakovlev, K., Khithov, V., Loginov, M., Petrov, A. (2015). Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments. In Proceedings of The 7th IEEE International Conference on Intelligent Systems (IS 2014), Warsaw, Poland, September 24-26, 2014. pp. 49-56.
http://rd.springer.com/chapter/10.1007/978-3-319-11310-4_5#
https://arxiv.org/abs/1602.00462

Yakovlev, K., Baskin, E., Hramoin, I. (2015). Grid-based angle-constrained path planning. In Proceedings of The 38th Annual German Conference on Artificial Intelligence (KI 2015), Dresden, Germany, September 21-25, 2015. pp. 208-221.
http://link.springer.com/chapter/10.1007/978-3-319-24489-1_16
https://arxiv.org/abs/1506.01864

K. S. Yakovlev, D. A. Makarov, and E. S. Baskin. Automatic Path Planning for an Unmanned Drone with Constrained Flight Dynamics // Scientific and Technical Information Processing, 42(5), 2015. pp. 347–358
https://link.springer.com/article/10.3103/S0147688215050093

[Papers in Russian]

---

2014 (to top)

Yakovlev, K., Baskin, E., Hramoin, I. (2014). Finetuning Randomized Heuristic Search for 2D Path Planning: Finding the Best Input Parameters for R* Algorithm through Series of Experiments. In Proceedings of The 16th International Conference on Artificial Intelligence: Methodology, Systems, and Applications (AIMSA 2014), Varna, Bulgaria, September 11-13, 2014. pp. 278-285.
http://rd.springer.com/chapter/10.1007%2F978-3-319-10554-3_29
https://arxiv.org/abs/1511.00840

[Papers in Russian]

---

earlier publications to appear soon…