Anna Gorbenko

The set of parameterized k-covers problem

The problem of the set of k-covers is a distance measure for strings. Another well-studied string comparison measure is that of parameterized matching. We consider the problem of the set of parameterized k-covers (k-SPC) which combines k-cover measure with parameterized matching. We prove that k-SPC is NP-complete. We describe an approach to solve k-SPC. This approach is based on constructing a logical model for k-SPC.

On Starting Population Selection for GSAT

GSAT is a well-known satisfiability search algorithm for conjunctive normal forms. GSAT uses some random functions. One of such functions is a function of starting population of truth assignments for the variables of conjunctive normal form. In this paper, we consider a method of artificial physics optimization for computing a function of starting population.

Self-Learning of Robots and the Model of Hamiltonian Path with Fixed Number of Color Repetitions for Systems of Scenarios Creation

In this paper, we propose a system of scenarios creation for self-learning of intelligent mobile robots. This model is based on the model of Hamiltonian path with fixed number of color repetitions for c-arc-colored digraphs. We show that the problem of Hamiltonian path with fixed number of color repetitions for c-arc-colored digraphs is NP-complete. We consider an approach to solve the problem. This approach is based on an explicit reduction from the problem to the satisfiability problem.

Graph-Theoretic Models for the Module of Safe Planning for Control Systems of Mobile Robots

In this paper, we propose an approach to the creation of safe planning module for control systems of mobile robots. Our approach is based on some graph-theoretic models. In particular, we consider models of monochromatic and alternating paths for edge-colored graphs.

Reduction of the uncertainty in feature tracking

It is difficult to establish feature correspondences between distant viewpoints for panoramic images. For reliable navigation and development a human-like capability of interaction with the surrounding environment, we need a method of reduction of the uncertainty in feature tracking. To obtain a method of reduction of the uncertainty in feature tracking, we propose to use an algorithm for the problem of the longest common subsequence for a set of circular strings. We consider an explicit reduction from the problem of the longest common subsequence for a set of circular strings to the satisfiability problem. This reduction allows to obtain an efficient algorithm for finding the longest common subsequence for a set of circular strings. We present a general scheme of the method of reduction of the uncertainty in feature tracking. We considered the visual homing task to demonstrate the capabilities of our approach to solve the problem of reduction of the uncertainty in feature tracking. We present experimental results for the method of reduction of the uncertainty in feature tracking and novel robot visual homing methods.

Task-Level Learning from Demonstration and Generation of Action Examples for Hierarchical Control Structure

We consider the problem of the task-level robot learning from demonstration. In particular, we consider a model that uses the hierarchical control structure. For this model, we propose the problem of selection of action examples. We present a polynomial time algorithm for solution of this problem. Also, we consider some experimental results for task-level learning from demonstration.

Automatic Generation of Modules of Visual Recognition

We consider the problem of automatic generation of visual recognition modules. In particular, we consider a self-learning algorithm for visual recognition and system of automatic generation that based on some biological observations.

Anticipation in Robot Navigation and Mining for Intresting Patterns

We consider robot self-awareness from the point of view of temporal relation based data mining. We consider the problem of mining for intresting patterns. In particular, we study the longest common subsequence over the set problem.

Building the Panoramic Image for Mobile Robot Localization

Visual landmarks are extensively used in contemporary robotics. There are a large number of different systems of visual landmarks. In particular, fingerprints give us unique identifiers for visually distinct locations by recovering statistically significant features. Therefore, fingerprints can be used as visual landmarks for mobile robot navigation. To create fingerprints we need one-dimensional color panoramas of high quality. In this paper, we consider a method for building the panoramic image using string matching algorithms. In particular, we propose the shortest common ordered supersequence problem.

The Problem of Sensor-Mission Assignment in Wireless Sensor Networks

In this paper, we consider sensor-mission assignment in wireless sensor networks. We consider some approaches to solve the problem of sensor-mission assignment. In particular, we consider integer programs and logical models for the problem.