Anton Saveliev

Anton Saveliev
Russian Academy of Sciences | RAS · St.Petersburg Institute for Informatics and Automation

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102
Publications
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197
Citations

Publications

Publications (102)
Chapter
Modular robotic systems are a group of identical robots capable of reconfiguring depending on the assigned tasks. The task of reconfiguring the kinematic structure is the construction of a trajectory connecting the initial and target positions for each module of the system. This paper presents a method for reconfiguring the kinematic structure of a...
Chapter
In this paper, we propose an algorithm for determining the coordinates of the center of the target object, which are necessary to complete the task of grasping this object with the end-effector of the manipulator. To obtain information about the position of the object, data on the position of the center of the ArUco marker and data from the matrix...
Article
The energy capacity of the batteries used as the main power source in mobile robotic devices determines the autonomous operation of the robot. To plan the execution of tasks by a group of robotic tools in terms of time consumption, it is important to take into account the time during which the battery of each individual robot is charged. When using...
Chapter
This paper analyzes the strategies for the behavior of cyber-physical systems in case of data integrity loss during transmission by nodes, temporary loss of system connectivity, and failure of individual nodes. Some problems causing the malfunction of cyber-physical systems are considered, as well as the methods, proposed for detecting and eliminat...
Article
Рассмотрены перспективы развития органического молочного скотоводства в Российской Федерации, обусловленные вступлением в действие закона «Об органической продукции». Проанализированы факторы, способствующие развитию производства органического молока: возможность реализации эффекта масштаба, организация производства на необрабатываемых в течение ря...
Article
Purpose or research. Development of an algorithm for smoothing the trajectory of a ground robot over rough terrain, represented as a graph in three-dimensional space. Methods. This article presents the CSA (Curve Smoothing and Averaging) algorithm for smoothing local curves in the Oxy plane that make up a global curve, represented as a path on a co...
Article
Full-text available
Gesture recognition is an urgent challenge in developing systems of human-machine interfaces. We analyzed machine learning methods for gesture classification based on electromyographic muscle signals to identify the most effective one. Methods such as the naive Bayesian classifier (NBC), logistic regression, decision tree, random forest, gradient b...
Article
Full-text available
This paper presents the research and development of the prototype of the assistive mobile information robot (AMIR). The main features of the presented prototype are voice and gesture-based interfaces with Russian speech and sign language recognition and synthesis techniques and a high degree of robot autonomy. AMIR prototype’s aim is to be used as...
Article
In this paper an approach is presented, enabling to solve the problem of local navigation of mobile robotic platforms (MRP), based on utilization of wireless networks with mesh topology. Establishment of wireless networks was ensured, based on the set of radio modules, mounted on unmanned aerial vehicles (UAV), comprising a swarm. This paper presen...
Article
Purpose The purpose of this paper is to analyze the development of a novel approach for automated terrain mapping a robotic vehicles path tracing. Design/methodology/approach The approach includes stitching of images, obtained from unmanned aerial vehicle, based on ORB descriptors, into an orthomosaic image and the GPS-coordinates are binded to th...
Chapter
This paper presents deep Q-learning algorithm designed to solve inverse kinematics problem of four-link manipulator. This algorithm uses dynamic exploration coefficient instead of a constant value, which allows to avoid convergence of the neural network to a local optimum. In addition, a method for generating a Q-table has been developed to avoid t...
Chapter
This paper presents an algorithm for energy-efficient path planning for robotic systems in three-dimensional maps, called Local Roughness Local Height Difference A* (LRLHD-A*). This algorithm is an extension of A* algorithm; it uses local irregularities of the surface and local height differences to reveal static obstacles, as well as a metric for...
Chapter
A robotic manipulator mounted on unmanned aerial vehicle (UAV) is called an aerial manipulation system usually. Any movements of manipulator affect the stability of the UAV. In particular, the horizontal shift of the center of mass (COM) requires of the UAV the powerful controller that change forces of the propellers of quadrotor to bring the UAV t...
Article
Full-text available
The analysis of the existing systems of mechanical grippers of various operating principles and operating environments, in the design of which both soft and hard magnetic materials are executed. The characteristics of existing prototypes are shown and the results of our own research are presented.The article presents a study of the effect of the in...
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This paper considers building a cloud system for distributing multimedia content in cyber-physical environments. The paper describes overall system architecture, gives detailed description of the users. involved in content distribution. Their typical actions are defined in use case diagrams. UML-diagrams are given, describing modules for content ma...
Article
Full-text available
The article proposes a method for the automated generation of a road traffic accident (RTA) scene sketch, which includes: video recording of vehicles involved in the traffic situation and the surroundings with a mobile device camera; map generation and reconstruction of the camera trajectory using the SLAM-method; comparison of the reconstructed 3D...
Chapter
In this article, a microservice architecture of cyber-physical space was considered and in particular localization service was implemented. We propose an architecture of proactive localization service, which allows predicting the activity of the tracked object in cyber-physical space. To solve the position prediction problem, we tested machine lear...
Chapter
Biped humanoid robot dynamics is approximated by dynamics of 3D linear inverted pendulum, which can be derived from dynamics of ordinary 3D inverted pendulum. Based on this approximation of biped robot dynamics we can generate walking patterns, which are specified by step parameters, that specify desired zero moment point (ZMP) trajectory. To track...
Article
Introduction: Cyberphysical systems are a wide class of systems whose main characteristic is high integration of computing resources into each physical component of a system. One of the tasks of a cyberphysical intelligent space is to provide convenient interaction between users via various system nodes. Modern videoconferencing applications are ex...
Article
Full-text available
This paper considers processing of conflicting user requests in ubiquitous corporate smart spaces. The formulated problem consists in the contradiction between the limitation of available smart space resources to perform the conflicting user requests and necessity to provide the proper quality of service in corporate smart spaces. The principles of...
Conference Paper
Full-text available
The purpose of this study is to develop a robust audio-visual speech recognition system and to investigate the influence of a high-speed video data on the recognition accuracy of continuous Russian speech under different noisy conditions. Developed experimental setup and collected multimodal database allow us to explore the impact brought by the hi...
Conference Paper
This paper discusses integration of corporate information infrastructure components to develop an enterprise smart space that uses available resources to achieve the common goals of users. The paper proposes formalization for the smart space functioning scenarios on the basis of the temporal logic of actions, describes a multilevel model of corpora...
Article
Full-text available
Employment of various protocols and technologies in IoT networks leads to the lack of module unification and increase in incompatible technical solutions. Modern IoT networks are not designed for streaming audio/video data, so their application field is limited. Also, modern IoT networks should have connection areas for devices transferring data to...
Article
The quality enhancement of infocommunication systems based on integration of semantically different information transmitted over different communication channels is discussed. The increase of the informational efficiency of the multimodal communication systems is provided by using multimodal subscriber interfaces, compared to traditional telecommun...
Conference Paper
The paper presents a methodology for the synthesis of systems for monitoring the state of a fiber-optical linear path of the optical transport networks, based on the information and measuring control system that implements neural network recognition algorithms with synthesis by dominance. The proposed information-measuring system processes levels o...
Conference Paper
In this paper, we propose a conceptual model of a cyberphysical environment based on a new approach to distribution of sensor, network, computing, information-control and service tasks between mobile robots, embedded devices, mobile client devices, stationary service equipment, and cloud computing and information resources. The task of structural-p...
Conference Paper
Cyberphysical systems (CPS) provide a broad range of possibilities in many fields of human activity such as multimodal human-computer interaction (HCI). The paper discusses the architecture of developing multimodal information navigation system of SPIIRAS, considering an approach of building a corporate information subsystem for tracking events, sc...
Conference Paper
In this paper, we present a novel bimodal speech recognition technique that fuses both audio information (sound signal) and visual information (movements of lips) for Russian speech recognition. We propose an architecture of the automatic system for bimodal recognition of audio-visual speech, which uses one stationary microphone Oktava and one high...
Conference Paper
Forming a predetermined spatial shape is one of the most important problems of modern swarm robotics. The work presented here focuses on the motion planning for the swarm of identical robots in the task of spatial reconfiguration. The main requirement is that the reconfiguration must be collision free, that is, at each moment the pairwise distances...
Conference Paper
The article establishes the general trends of speech coding algorithms based on linear prediction. The task of adaptation of speech codec to the statistical characteristics of the coding parameters is set and accomplished. The main procedures of their forming are examined. The results of experimental studies of the developed adaptive low bit-rate c...
Article
Most videoconferencing applications are based on the client-server architecture of processing and transmitting multimedia data among the participants of a conversation. In this paper, different methods of distributing and processing data streams are analyzed and optimized with the aim of reducing the load on the server-end portion of the videoconfe...
Conference Paper
The methods for estimation of blur and other quality metrics of digital images are discussed. The classification of modern methods of blur estimation used for real-time systems is presented. Several methods of image patch segmentation were applied for enhancement of the processing speed and reliability of image quality assessment. The proposed meth...