| 2020 | DeSE | Standard-complaint Gazebo warehouse modelling and validation. | Artur Khazetdinov, Aufar Zakiev, Tatyana Tsoy, Roman Lavrenov, Kuo-Hsien Hsia |
| 2020 | ICRA | Automatic tool for Gazebo world construction: from a grayscale image to a 3D solid model. | Bulat Abbyasov, Roman Lavrenov, Aufar Zakiev, Konstantin S. Yakovlev, Mikhail M. Svinin, Evgeni Magid |
| 2020 | IJCNN | Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance under Noisy Sensory Data. | Aufar Zakiev, Tatyana Tsoy, Ksenia Shabalina, Evgeni Magid, Subir Kumar Saha |
| 2019 | DeSE | Pilot Communication Protocols for Group of Mobile Robots in USAR Scenarios. | Artyom Pashkin, Roman Lavrenov, Aufar Zakiev, Mikhail M. Svinin |
| 2019 | DeSE | Modeling USAR Maps for the Collection of Information on the State of the Environment. | Nikita Simakov, Roman Lavrenov, Aufar Zakiev, Ramil Safin, Edgar A. Martnez-Garca |
| 2019 | DeSE | Validation of Fiducial Marker Systems Performance with Rescue Robot Servosila Engineer Onboard Camera in Laboratory Environment. | Tatyana Tsoy, Aufar Zakiev, Ksenia Shabalina, Ramil Safin, Evgeni Magid, Subir Kumar Saha |
| 2017 | DeSE | Tool for 3D Gazebo Map Construction from Arbitrary Images and Laser Scans. | Roman Lavrenov, Aufar Zakiev |