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

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

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

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)

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)

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