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cs.RO2025
CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance
Stepan Dergachev, Artem Pshenitsyn, Aleksandr Panov +2
Decentralized collision avoidance is a core challenge for scalable multi-robot systems. A promising approach to this problem is Model Predictive Path Integral (MPPI) control - a fr…
cs.RO2025
Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral
Stepan Dergachev, Konstantin Yakovlev
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for b…
cs.RO2022
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
Stepan Dergachev, Kirill Muravyev, Konstantin Yakovlev
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path pla…