Anton Moscowsky

• Head of "Control Systems" group of robotics laboratory at Kurchatov Institute

Featured Application Implicit assessment of an individual’s sense of agency when operating a rehabilitative mobility device. Abstract Sense of agency (SoA) refers to an individual’s awareness of their own actions. SoA studies seek to find objective indicators for the feeling of agency. These indicators, being related to the feeling of control, hav...

The paper describes a software package (Extended Object Detection) that implements the procedure for detecting objects on a video camera stream for usage in robotic tasks. An object in the system is described by a list of its attributes (form, shape, color, size, etc.). Each attribute in the description of an object corresponds to a software detect...

The paper describes the application of the technology of subdefinite computations for the problem of localizing a mobile robot by landmarks. The application of subdefinite computations together with probabilistic approaches is considered using the example of a histogram filter. It is shown that the use of this technology can significantly increase...

Problem statement: Wheelchairs have a widespread usage both as a rehabilitation tool and as an assistive device in the daily lives of people with disabilities. However, some disabilities make it difficult to use traditional wheelchairs that are operated manually or with a joystick. This paper describes an intelligent control system for wheelchair a...

The paper considers a group of animates (bio-inspired abstract models or technical devices) that use the visual analyzer described by the authors earlier. The visual analyzer recognizes the scene observed by the animat, determines the class of the situation and selects the corresponding behavior. The analyzer is based on the" language of poses" , b...

The paper describes a hierarchical control architecture for robotic systems with learning that allows combining various goal-directed algorithms. A top-level control algorithm is proposed that switches control between base algorithms: Q-learning, random walk and a rule-based planning. The algorithm is implemented as a software module and is verifie...

In this work we consider an environment exploration and mapping task for a group of heterogeneous mobile robots. We propose a range of methods tied together in a hierarchical two-level control system. The distinguished features of the proposed system are the use of subdefinite models for robot localization as well as an original mechanism for local...