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Task Planning with Belief Behavior Trees [article]

Evgenii Safronov, Michele Colledanchise, Lorenzo Natale
2020 arXiv   pre-print
In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account for the uncertainty that affects both the conditions and action nodes of the BT. The tree gets synthesized following a planning strategy for BTs proposed recently: from a set of goal conditions we iteratively select a goal and find the action, or in general
more » ... subtree, that satisfies it. Such action may have preconditions that do not hold. For those preconditions, we find an action or subtree in the same fashion. We extend this approach by including, in the planner, actions that have the purpose to reduce the uncertainty that affects the value of a condition node in the BT (for example, turning on the lights to have better lighting conditions). We demonstrate that BBTs allows task planning with non-deterministic outcomes for actions. We provide experimental validation of our approach in a real robotic scenario and - for sake of reproducibility - in a simulated one.
arXiv:2008.09393v1 fatcat:gnxqfwvzujfkfmrtfnasygu5au

Compact Belief State Representation for Task Planning [article]

Evgenii Safronov, Michele Colledanchise, Lorenzo Natale
2020 arXiv   pre-print
This proves that AOBS belief state representation could be competitive in the case of belief state without probabilities 2 Fig. 1 . 21 Evgenii Safronov is also with Department of Informatics, Bioengineering  ... 
arXiv:2008.10386v1 fatcat:ilsln6asuzaevbrh6petg4xkwe

Node Templates to improve Reusability and Modularity of Behavior Trees [article]

Evgenii Safronov
2020 arXiv   pre-print
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we exploit the full power of BT on these properties? We suggest to generalise the idea of subtree reuse to "node templates" concept, which allows to represent an arbitrary nodes collection. In addition, previously hardcoded behaviors such as Node* and many
more » ... ator nodes could be implemented in a memory-based BT by node templates.
arXiv:2002.03167v1 fatcat:g2mw5l644vhmro5ojz56zsyate

Analysis of Linear Dimension Accuracy of Sheet Metal Bending

Evgeniy Safronov, Andrey Nosko, S. Bratan, S. Roshchupkin
2021 MATEC Web of Conferences  
Working on the design of the products obtained by the V-bending, the engineer uses the nominal thickness of the material. In this case, the problem is to evaluate the accuracy of the linear dimensions of the resulting products due to deviations in the thickness of the material and the manufacturing technology of the steel sheets. Article presents analysis of linear dimension accuracy for V-bending for the metal cold-rolled and hot-rolled sheets with thickness 1.0...8.0 mm and width from
more » ... 500mm. Proposed method is based on the calculation of difference between nominal flat length and flat lengths corresponding maximum and minimum thickness of the metal sheet.
doi:10.1051/matecconf/202134601007 fatcat:oxtpm7p2tjexbhn6ahpgsw7xdi


2021 Urban construction and architecture  
The results of the survey of steel trusses covering six industrial buildings are presented. In particular, the presence of various forms of defects of compressed rods was revealed: general bends in the plane and out of the plane of the truss, local perishes of the shelves - grinding and grinding. The necessity of strengthening the rods for further operation of the structures is determined. The proposed technical solutions for strengthening deformed rods are presented. When developing technical
more » ... olutions, we tried to achieve, if possible, compensation for the damaged part of the cross-section (for locally damaged rods) and bringing the axis of the repaired rod to the design position (for rods with common bends). To confi rm the eff ectiveness of the proposed solutions, experimental studies were conducted. A brief analysis of the results is given.
doi:10.17673/vestnik.2021.03.04 fatcat:4ft2kfplxzba7mpiatmcq3nxfu


Yuri S. VYTCHIKOV, Mikhail E. SAPAREV, Vladislav A. GOLIKOV, Evgeniy G. SAFRONOV
The article presents a method for determining the minimum permissible value of the heat transfer resistance of the outer wall, at which the minimum energy consumption is achieved during the operation of buildings with variable thermal conditions. A review of the sources devoted to this problem showed the presence of high costs of thermal energy during the heating of premises. On the basis of studies of all components of energy consumption in the operation of premises with intermitt ent heating
more » ... ystems, the authors of the article propose a method for determining the minimum permissible resistance to heat transfer, which provides minimum energy consumption. According to the described method, the calculation was made for external walls made of various materials. The analysis of the obtained results showed that a signifi cant infl uence on the minimum permissible value of the heat transfer resistance is exerted by a complex of thermophysical values cρλ. The presented graphical dependence R0 усл on the complex cρλ allows the designer to rationally choose a wall material that provides a minimum of energy consumption during the operation of the building. In the context of rising energy tariff s, such optimization of thermal protection characteristics is especially important for country cott ages operated in intermitt ent heating conditions.
doi:10.17673/vestnik.2021.01.5 fatcat:lbchdjgwbrhgdkviesc5wbdu5i

Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller [article]

Evgenii Safronov, Michael Vilzmann, Dzmitry Tsetserukou, Konstantin Kondak
2019 arXiv   pre-print
Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system. Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of mission execution systems does not allow small differences in data flow among redundant FCCs which are acceptable for continuous control algorithms. Therefore, mission state consistency has to be specifically maintained. We
more » ... nt a novel mission execution system which includes FCC state synchronization. To achieve this result we developed a new concept of Asynchronous Behavior Tree with Memory and proposed a state synchronization algorithm. The implemented system was tested and proven to work in a real-time simulation of High Altitude Pseudo Satellite (HAPS) mission.
arXiv:1907.00253v2 fatcat:gsj7rihzxrbavkts4oicin7b7e


Svetlana V. Levanova, Evgeniy L. Krasnykh, Svetlana V. Moiseeva, Sergei P. Safronov, Ilya L. Glazko
., Safronov S.P., Glazko I.L. Scientific and technological features of synthesis of new ester plasticizers based on renewable raw materials. ChemChemTech [Izv. Vyssh. Uchebn. Zaved. Khim. Khim.  ... 
doi:10.6060/ivkkt.20216406.6369 fatcat:3xc62empz5glrphyptte5nhihq

Inforino 2020 Author Index

2020 2020 V International Conference on Information Technologies in Engineering Education ( Inforino )  
Merenkov, Dmitry 5_7 Merzlikina, E .I. 3_13, 3_19 Mezin, S.V. 4_3, 5_1 Mezin, Sergey 1_10 Mikhaylova, Pavla 5_14 Milyutin, V.A. 4_10 Mishulin, Y. 4_5 Misnik, Anton 3_20, 3_25 Mladzievskiy, Evgeniy  ...  Rudenkova, M. 4_12 Rumyantsev, M. 4_13 Rusakov, I. 1_16 Rybina, Galina V. 2_22 Ryzhkova, Elena 3_21 Rzheutskaya, Svetlana 5_11 S Name Session#_Seq Order# Sabanin, Vladimir 2_23, 2_24 Safronov  ... 
doi:10.1109/inforino48376.2020.9111754 fatcat:hddvri25obf6rbh52xburitl3a

Page 468 of National Union Catalog Vol. 33, Issue [page]

1963 National Union Catalog  
Luchinetskil, Evgenii Pavlovich. Tlogsur cosepmaetca 3,ecs. CuGupcKoe rumxnoe 434-80, 1 p. illus. 21 cm. At head of title: Esrennft Jlywneuxna, 1 Title. Title HosocaGupex, Sanaquo- : Podvig zdes’.  ...  QA320.L8 65-81336 Luchkin, Andrei Ivanovich see Safronov, Petr Vasil'evich. Dorozhno- stroitel'nye materialy, 1966, ‘ich, Michael, ed. Their land; an anthology of Ukrainian short stories.  ... 

IAkutiia v sisteme politicheskoi ssylki Rossii 1826-1917 gg, and: Politicheskaia ssylka v Sibiri: Nerchinskaia katorga (review)

Andrew Gentes
2002 Kritika: Explorations in Russian and Eurasian History  
Safronov, Russkie krest′iane v Iakutii (XVII-nachalo XX vv.)  ...  Cf., for example, Fedot Grigor′evich Safronov, "Ssylka v Vostochnuiu Sibir′ v pervoi polovine XVIII v.," in Ssylka i katorga, ed.  ... 
doi:10.1353/kri.2002.0010 fatcat:c2pxnd6qzjc5fhokmtfm6pvlw4

Сomparative analysis of calculated and experimental studies of pallet movement speed on magnetic type brake roller

I. A. Sharifullin, A. L. Nosko, E. V. Safronov
2021 The Russian Automobile and Highway Industry Journal  
., Safronov E.V. Сomparative analysis of calculated and experimental studies of pallet movement speed on magnetic type brake roller.  ...  Evgenii V. Safronov -participation in the formulation of the research problem, obtaining calculated dependencies, the analysis of the results and the formation of conclusions (20%).  ...  ИНФОРМАЦИЯ ОБ АВТОРАХ 499 ) 263-65-92, е-mail: INFORMATION ABOUT THE AUTHORS Ildar A. Sharifullin  ... 
doi:10.26518/2071-7296-2021-18-2-148-159 doaj:5a73764eafbc4bfab5ce642581022bdd fatcat:g2o4n53mlzhhjgjgb2e54yj6ky

Inforino 2020 Table of Contents

2020 2020 V International Conference on Information Technologies in Engineering Education ( Inforino )  
Chakheev The Use of Digital Technologies in Teaching a Foreign Language 6_11 Ekaterina Pecherskaya, Dmitriy Artamonov, Maksim Safronov, Ekaterina Polosina, Irina Renzyaeva, Anastasia Shepeleva Improving  ...  Prochina Laboratory Works on Control Theory Using Scilab/Xcos 3_19 Anton Misnik, Vadim Borisov, Sergei Prokopenko, Sergei Krutalevich Automation Methodology for Complex Technical-Organizational Systems Evgeniy  ... 
doi:10.1109/inforino48376.2020.9111853 fatcat:fu6shx6tprbvhowdmtvg3uyvku

Recent progress of the Baikal-GVD project

Olga Suvorova, Aleksandr Dmitrievich Avrorin, Aleksandr Valentinovich Avrovin, Vladimir Aynutdinov, R Bannash, Igor Anatolievich Belolaptikov, Victor Brudanin, Nikolai Mikhailovich Budnev, Grigoryi Vladimirovich Domogatsky, Aleksandr Doroshenko, Rastislav Dvornicky, Aleksei Nikolaevich Dyachok (+40 others)
2020 Proceedings of European Physical Society Conference on High Energy Physics — PoS(EPS-HEP2019)   unpublished
Cubic kilometer scale neutrino telescope Baikal-GVD is currently under construction in Lake Baikal. The detector is specially designed for search for high energies neutrinos whose sources are not yet reliably identified. Since April 2019 the telescope has been successfully operated in complex of five functionally independent clusters i.e. sub-arrays of optical modules where now are hosted 1440 OMs on 40 vertical strings. Each cluster is connected to shore by individual electro-optical cables.
more » ... e effective volume of the detector for neutrino initiated cascades of relativistic particles with energy above 100 TeV has been increased up to about 0.25 km 3 . Preliminary results with data samples of 2015-2018 years are discussed.
doi:10.22323/1.364.0050 fatcat:ncz7x5sntvccdnraxzbemxz6ey

Forecasting And Assessment Of Uncertaintyin The Economic Activity Of Enterprises

Mikhail I. Bukhalkov
2021 unpublished
considered in this study. Corresponding Author: Evgeniy G.  ...  Safronov Selection and peer-review under responsibility of the Organizing Committee of the conference eISSN: 2357-1330 38  ... 
doi:10.15405/epsbs.2021.12.02.4 fatcat:es2pfdtzknd37ih5iw6cqkrsqe
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