Stepan Dergachev

16 papers A 2Journal 10Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
Relaxing Constraints in Anonymous Multi Agent Path Finding for Large Agents.
CoRR
Stepan Dergachev, Dmitry Avdeev
2025 J jnl
CoRL-MPPI: Enhancing MPPI With Learnable Behaviours For Efficient And Provably-Safe Multi-Robot Collision Avoidance.
CoRR
Stepan Dergachev, Artem Pshenitsyn, Aleksandr Panov, Alexey Skrynnik, Konstantin S. Yakovlev
2025 A conf
Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance With Model Predictive Path Integral
IROS
Stepan Dergachev, Konstantin S. Yakovlev
2025 J jnl
Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral.
CoRR
Stepan Dergachev, Konstantin S. Yakovlev
2024 J jnl
Decentralized Unlabeled Multi-Agent Navigation in Continuous Space.
CoRR
Stepan Dergachev, Konstantin S. Yakovlev
2024 A conf
Decentralized Unlabeled Multi-Agent Pathfinding Via Target And Priority Swapping.
ECAI
Stepan Dergachev, Konstantin S. Yakovlev
2024 — conf
Decentralized Unlabeled Multi-agent Navigation in Continuous Space.
ICR
Stepan Dergachev, Konstantin S. Yakovlev
2024 J jnl
Decentralized Unlabeled Multi-agent Pathfinding Via Target And Priority Swapping (With Supplementary).
CoRR
Stepan Dergachev, Konstantin S. Yakovlev
2024 J jnl
Model predictive path integral for decentralized multi-agent collision avoidance.
PeerJ Comput. Sci.
Stepan Dergachev, Konstantin S. Yakovlev
2022 J jnl
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain.
CoRR
Stepan Dergachev, Kirill Muravyev, Konstantin S. Yakovlev
2022 J jnl
Towards A Complete Multi-Agent Pathfinding Algorithm For Large Agents.
CoRR
Stepan Dergachev, Konstantin S. Yakovlev
2022 — conf
Towards a Complete Multi-agent Pathfinding Algorithm for Large Agents.
MICAI (1)
Stepan Dergachev, Konstantin S. Yakovlev
2021 — conf
Distributed Multi-Agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-Agent Path Finding.
CASE
Stepan Dergachev, Konstantin S. Yakovlev
2021 J jnl
Distributed Multi-agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-agent Path Finding.
CoRR
Stepan Dergachev, Konstantin S. Yakovlev
2020 — conf
A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation.
ICR
Stepan Dergachev, Konstantin S. Yakovlev, Ryhor Prakapovich
2020 J jnl
A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation.
CoRR
Stepan Dergachev, Konstantin S. Yakovlev, Ryhor Prakapovich