K. Yu. Kotov

The KEDR detector

The KEDR detector is a universal magnetic detector designed for studying the c- and b-quarks and two-photon physics, and is employed at the VEPP-4M e + e − collider. A specific feature of the experiment is the measurement of absolute beam energy using two methods: the resonant depolarization and the faster but less precise Compton backscattering of laser photons. This allowed a large series of measurements to be performed, in which the accuracy of determination of such fundamental parameters of particles as mass and total and leptonic widths was improved.

Using the Kalman filter in the quadrotor vehicle trajectory tracking system

A problem of control of quadrotor vehicle motion over a trajectory defined implicitly in the coordinate space is considered. The previously proposed system of automated control of quadrotor vehicle flight is supplemented with relations based on an extended Kalman filter for estimating the plant state vector and the systematic error of measurements. The workability of the control system in the presence of the measurement noise is verified by results of modeling and experiments with the AR.Drone quadrotor vehicle.

Decentralized control of mobile robots in formation

A control scheme for mobile robot formation in the leader following mode is proposed. It enables to track the target and is based on using a sliding mode along the desired trajectory in the state space. Results of modeling using MATLAB/SIMULINK environment are presented. They confirm efficiency of the proposed algorithm.

Measurement of the ratio of the leptonic widths

The ratio of the electron and muon widths of the

\Gamma_{ee}/\Gamma_{\mu\mu}

J/\psi

for the

meson has been measured using direct

J/\psi

J/\psi

meson

decays in the KEDR experiment at the VEPP-4M electron-positron collider. The result

Decentralized control of quadrotors in a leader–follower formation

\Gamma_{ee}(J/\psi)/\Gamma_{\mu\mu}(J/\psi)=1.0022\pm0.0044\pm0.0048\ (0.65\%)

Robust leader–follower formation control of mobile robots by the structural synthesis method

is in good agreement with the lepton universality. The experience collected during this analysis will be used for a