ELIAN: ENHANCED ALGORITHM FOR ANGLE-CONSTRAINED PATH FINDING Статья Andreychuk A., Soboleva N., Yakovlev K. Communications in Computer and Information Science. Springer Verlag. Том 934. 2018. С. 206-217
ENHANCING SEMI-DENSE MONOCULAR VSLAM USED FOR MULTI-ROTOR UAV NAVIGATION IN INDOOR ENVIRONMENT BY FUSING IMU DATA Статья Bokovoy A., Yakovlev K. ICAROB 2018: PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS. ALIFE ROBOTICS CO, LTD. 2018. С. 391-394
APPLYING MAPP ALGORITHM FOR COOPERATIVE PATH FINDING IN URBAN ENVIRONMENTS Статья Andreychuk A., Yakovlev K. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Том vol 10459. 2017. С. 1-10