Finetuning Randomized Heuristic Search for 2D Path Planning: Finding the Best Input Parameters for R* Algorithm through Series of Experiments. - Konstantin S. Yakovlev; Egor Baskin; Ivan Hramoin (AIMSA, 2014)

Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments. - Konstantin S. Yakovlev; Vsevolod Khithov; Maxim Loginov; Alexander Petrov (IEEE Conf. on Intelligent Systems (2), 2014)

Grid-Based Angle-Constrained Path Planning. - Konstantin S. Yakovlev; Egor Baskin; Ivan Hramoin (KI, 2015)

Toward Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering. - Vsevolod Khithov; Alexander Petrov; Igor Tishchenko; Konstantin S. Yakovlev (RiTA, 2015)

Behavior and Path Planning for the Coalition of Cognitive Robots in Smart Relocation Tasks. - Aleksandr I. Panov; Konstantin S. Yakovlev (RiTA, 2015)

A Real-Time Algorithm for Mobile Robot Mapping Based on Rotation-Invariant Descriptors and Iterative Close Point Algorithm. - Alexander Vokhmintcev; Konstantin S. Yakovlev (AIST, 2016)

Psychologically Inspired Planning Method for Smart Relocation Task. - Aleksandr I. Panov; Konstantin S. Yakovlev (BICA, 2016)

Multilayer cognitive architecture for UAV control. - Stanislav V. Emel'yanov; Dmitry Makarov; Aleksandr I. Panov; Konstantin S. Yakovlev (Cogn. Syst. Res., 2016)

Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths. - Konstantin S. Yakovlev; Anton Andreychuk (CoRR, 2016)

Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm. - Konstantin S. Yakovlev; Anton Andreychuk (ICAPS, 2017)

Original Loop-Closure Detection Algorithm for Monocular vSLAM. - Andrey Bokovoy; Konstantin S. Yakovlev (AIST, 2017)

Grid Path Planning with Deep Reinforcement Learning: Preliminary Results. - Aleksandr I. Panov; Konstantin S. Yakovlev; Roman E. Suvorov (BICA, 2017)

Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments. - Anton Andreychuk; Konstantin S. Yakovlev (ICR, 2017)

Towards Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering. - Vsevolod Khithov; Alexander Petrov; Igor Tishchenko; Konstantin S. Yakovlev (CoRR, 2017)

Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning. - Anton Andreychuk; Konstantin S. Yakovlev (AAMAS, 2018)

Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles. - Anton Andreychuk; Konstantin S. Yakovlev (ICR, 2018)

Sparse 3D Point-Cloud Map Upsampling and Noise Removal as a vSLAM Post-Processing Step: Experimental Evaluation. - Andrey Bokovoy; Konstantin S. Yakovlev (ICR, 2018)

Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results). - Anton Andreychuk; Konstantin S. Yakovlev (CoRR, 2018)

eLIAN: Enhanced Algorithm for Angle-constrained Path Finding. - Anton Andreychuk; Natalia Soboleva; Konstantin S. Yakovlev (CoRR, 2018)

LPLian: Angle-Constrained Path Finding in Dynamic Grids. - Natalia Soboleva; Konstantin S. Yakovlev (DeSE, 2019)

Real-time Vision-based Depth Reconstruction with NVidia Jetson. - Andrey Bokovoy; Kirill Muravyev; Konstantin S. Yakovlev (ECMR, 2019)

Prioritized Multi-agent Path Finding for Differential Drive Robots. - Konstantin S. Yakovlev; Anton Andreychuk; Vitaly Vorobyev (ECMR, 2019)

Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment. - Evgeni Denisov; Artur Sagitov; Konstantin S. Yakovlev; Kuo-Lan Su; Mikhail M. Svinin; Evgeni Magid (ICINCO (2), 2019)

Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results. - Konstantin S. Yakovlev; Anton Andreychuk; Juliya Belinskaya; Dmitry Makarov (ICR, 2019)

Multi-Agent Pathfinding with Continuous Time. - Anton Andreychuk; Konstantin S. Yakovlev; Dor Atzmon; Roni Stern (IJCAI, 2019)

GAN Path Finder: Preliminary Results. - Natalia Soboleva; Konstantin S. Yakovlev (KI, 2019)

Multi-Agent Pathfinding (MAPF) with Continuous Time. - Anton Andreychuk; Konstantin S. Yakovlev; Dor Atzmon; Roni Stern (CoRR, 2019)

Revisiting Bounded-Suboptimal Safe Interval Path Planning. - Konstantin S. Yakovlev; Anton Andreychuk; Roni Stern (ICAPS, 2020)

On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem. - Konstantin S. Yakovlev; Anton Andreychuk; Tomás Rybecký; Miroslav Kulich (ICINCO, 2020)

A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation. - Stepan Dergachev; Konstantin S. Yakovlev; Ryhor Prakapovich (ICR, 2020)

Planning to Score a Goal in Robotic Football with Heuristic Search. - Ivan Khokhlov; Vladimir Litvinenko; Ilya Ryakin; Konstantin S. Yakovlev (ICR, 2020)

Automatic tool for Gazebo world construction: from a grayscale image to a 3D solid model. - Bulat Abbyasov; Roman Lavrenov; Aufar Zakiev; Konstantin S. Yakovlev; Mikhail M. Svinin; Evgeni Magid (ICRA, 2020)

Map-Merging Algorithms for Visual SLAM: Feasibility Study and Empirical Evaluation. - Andrey Bokovoy; Kirill Muraviev; Konstantin S. Yakovlev (RCAI, 2020)

Improving Continuous-time Conflict Based Search. - Anton Andreychuk; Konstantin S. Yakovlev; Eli Boyarski; Roni Stern (AAAI, 2021)

Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles. - Konstantin S. Yakovlev; Anton Andreychuk (ICAPS, 2021)

Distributed Multi-Agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-Agent Path Finding. - Stepan Dergachev; Konstantin S. Yakovlev (CASE, 2021)

Augmenting GRIPS with Heuristic Sampling for Planning Feasible Trajectories of a Car-Like Robot. - Brian Angulo; Ivan Radionov; Konstantin S. Yakovlev (ECMR, 2021)

Prioritized SIPP for Multi-agent Path Finding with Kinematic Constraints. - Zain Alabedeen Ali; Konstantin S. Yakovlev (ICR, 2021)

Q-Mixing Network for Multi-agent Pathfinding in Partially Observable Grid Environments. - Vasilii Davydov; Alexey Skrynnik; Konstantin S. Yakovlev; Aleksandr I. Panov (RCAI, 2021)

Enhancing Exploration Algorithms for Navigation with Visual SLAM. - Kirill Muravyev; Andrey Bokovoy; Konstantin S. Yakovlev (RCAI, 2021)

Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning. - Tomás Rybecký; Miroslav Kulich; Anton Andreychuk; Konstantin S. Yakovlev (SOCS, 2021)

Hybrid Policy Learning for Multi-Agent Pathfinding. - Alexey Skrynnik; Alexandra Yakovleva; Vasilii Davydov; Konstantin S. Yakovlev; Aleksandr I. Panov (IEEE Access, 2021)

MAOMaps: A Photo-Realistic Benchmark For vSLAM and Map Merging Quality Assessment. - Andrey Bokovoy; Kirill Muravyev; Konstantin S. Yakovlev (CoRR, 2021)

Towards a Complete Multi-agent Pathfinding Algorithm for Large Agents. - Stepan Dergachev; Konstantin S. Yakovlev (MICAI (1), 2022)

Analysis of the Anytime MAPF Solvers Based on the Combination of Conflict-Based Search (CBS) and Focal Search (FS). - Ilya Ivanashev; Anton Andreychuk; Konstantin S. Yakovlev (MICAI (1), 2022)

Lower and Upper Bounds for Multi-Agent Multi-Item Pickup and Delivery: When a Decoupled Approach is Good Enough (Extended Abstract). - David Zahrádka; Anton Andreychuk; Miroslav Kulich; Konstantin S. Yakovlev (SOCS, 2022)

Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles. - Konstantin S. Yakovlev; Anton Andreychuk; Juliya Belinskaya; Dmitry Makarov (Autom. Remote. Control., 2022)

Multi-agent pathfinding with continuous time. - Anton Andreychuk; Konstantin S. Yakovlev; Pavel Surynek; Dor Atzmon; Roni Stern (Artif. Intell., 2022)

POGEMA: Partially Observable Grid Environment for Multiple Agents. - Alexey Skrynnik; Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr I. Panov (CoRR, 2022)

2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain. - Stepan Dergachev; Kirill Muravyev; Konstantin S. Yakovlev (CoRR, 2022)

Evaluation of RGB-D SLAM in Large Indoor Environments. - Kirill Muravyev; Konstantin S. Yakovlev (CoRR, 2022)

Pathfinding in stochastic environments: learning vs planning. - Alexey Skrynnik; Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr I. Panov (PeerJ Comput. Sci., 2022)

tx2_fcnn_node: An open-source ROS compatible tool for monocular depth reconstruction. - Kirill Muravyev; Andrey Bokovoy; Konstantin S. Yakovlev (SoftwareX, 2022)

Safe Interval Path Planning with Kinodynamic Constraints. - Zain Alabedeen Ali; Konstantin S. Yakovlev (AAAI, 2023)

TransPath: Learning Heuristics for Grid-Based Pathfinding via Transformers. - Daniil E. Kirilenko; Anton Andreychuk; Aleksandr Panov; Konstantin S. Yakovlev (AAAI, 2023)

Monte-Carlo Tree Search for Multi-agent Pathfinding: Preliminary Results. - Yelisey Pitanov; Alexey Skrynnik; Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr Panov (HAIS, 2023)

Maintaining topological maps for mobile robots. - Kirill Muravyev; Konstantin S. Yakovlev (ICMV, 2023)

DHC-R: Evaluating "Distributed Heuristic Communication" and Improving Robustness for Learnable Decentralized PO-MAPF. - Vladislav Savinov; Konstantin S. Yakovlev (ICR, 2023)

Evaluation of Topological Mapping Methods in Indoor Environments. - Kirill Muravyev; Konstantin S. Yakovlev (IEEE Access, 2023)

Evaluation of Safety Constraints in Autonomous Navigation with Deep Reinforcement Learning. - Brian Angulo; Gregory Gorbov; Aleksandr Panov; Konstantin S. Yakovlev (CoRR, 2023)

Policy Optimization to Learn Adaptive Motion Primitives in Path Planning With Dynamic Obstacles. - Brian Angulo; Aleksandr Panov; Konstantin S. Yakovlev (IEEE Robotics Autom. Lett., 2023)

Skill Fusion in Hybrid Robotic Framework for Visual Object Goal Navigation. - Aleksei Staroverov; Kirill Muravyev; Konstantin S. Yakovlev; Aleksandr I. Panov (Robotics, 2023)

Improved Anonymous Multi-Agent Path Finding Algorithm. - Zain Alabedeen Ali; Konstantin S. Yakovlev (AAAI, 2024)

Learn to Follow: Decentralized Lifelong Multi-Agent Pathfinding via Planning and Learning. - Alexey Skrynnik; Anton Andreychuk; Maria Nesterova; Konstantin S. Yakovlev; Aleksandr Panov (AAAI, 2024)

Decentralized Monte Carlo Tree Search for Partially Observable Multi-Agent Pathfinding. - Alexey Skrynnik; Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr Panov (AAAI, 2024)

Decentralized Unlabeled Multi-Agent Pathfinding Via Target And Priority Swapping. - Stepan Dergachev; Konstantin S. Yakovlev (ECAI, 2024)

Decentralized Unlabeled Multi-agent Navigation in Continuous Space. - Stepan Dergachev; Konstantin S. Yakovlev (ICR, 2024)

NavTopo: Leveraging Topological Maps for Autonomous Navigation of a Mobile Robot. - Kirill Muravyev; Konstantin S. Yakovlev (ICR, 2024)

Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfinding. - Konstantin S. Yakovlev; Anton Andreychuk; Roni Stern (IROS, 2024)

Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfinding (Extended Abstract). - Konstantin S. Yakovlev; Anton Andreychuk; Roni Stern (SOCS, 2024)

PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matching. - Kirill Muravyev; Alexander Melekhin; Dmitriy Yudin; Konstantin S. Yakovlev (CoRR, 2024)

POGEMA: A Benchmark Platform for Cooperative Multi-Agent Navigation. - Alexey Skrynnik; Anton Andreychuk; Anatolii Borzilov; Alexander Chernyavskiy; Konstantin S. Yakovlev; Aleksandr Panov (CoRR, 2024)

Safe Policy Exploration Improvement via Subgoals. - Brian Angulo; Gregory Gorbov; Aleksandr Panov; Konstantin S. Yakovlev (CoRR, 2024)

Decentralized Unlabeled Multi-agent Pathfinding Via Target And Priority Swapping (With Supplementary). - Stepan Dergachev; Konstantin S. Yakovlev (CoRR, 2024)

Model predictive path integral for decentralized multi-agent collision avoidance. - Stepan Dergachev; Konstantin S. Yakovlev (PeerJ Comput. Sci., 2024)

When to Switch: Planning and Learning for Partially Observable Multi-Agent Pathfinding. - Alexey Skrynnik; Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr I. Panov (IEEE Trans. Neural Networks Learn. Syst., 2024)

MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale. - Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr Panov; Alexey Skrynnik (AAAI, 2025)

POGEMA: A Benchmark Platform for Cooperative Multi-Agent Pathfinding. - Alexey Skrynnik; Anton Andreychuk; Anatolii Borzilov; Alexander Chernyavskiy; Konstantin S. Yakovlev; Aleksandr Panov (ICLR, 2025)

Generative models for grid-based and image-based pathfinding. - Daniil E. Kirilenko; Anton Andreychuk; Aleksandr I. Panov; Konstantin S. Yakovlev (Artif. Intell., 2025)

Polygon decomposition for obstacle representation in motion planning with Model Predictive Control. - Aleksey Logunov; Muhammad Alhaddad; Konstantin Mironov; Konstantin S. Yakovlev; Aleksandr Panov (Eng. Appl. Artif. Intell., 2025)

PRISM-TopoMap: Online Topological Mapping With Place Recognition and Scan Matching. - Kirill Muravyev; Alexander Melekhin; Dmitry A. Yudin; Konstantin S. Yakovlev (IEEE Robotics Autom. Lett., 2025)

PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps. - Kirill Muravyev; Vasily Yuryev; Oleg Bulichev; Dmitry A. Yudin; Konstantin S. Yakovlev (CoRR, 2025)

Advancing Learnable Multi-Agent Pathfinding Solvers with Active Fine-Tuning. - Anton Andreychuk; Konstantin S. Yakovlev; Aleksandr Panov; Alexey Skrynnik (CoRR, 2025)

Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral. - Stepan Dergachev; Konstantin S. Yakovlev (CoRR, 2025)