| 2025 | AAAI | MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale. | Anton Andreychuk, Konstantin S. Yakovlev, Aleksandr Panov, Alexey Skrynnik |
| 2025 | ICAPS | Safe Interval Randomized Path Planning For Manipulators. | Nuraddin Kerimov, Aleksandr Onegin, Konstantin S. Yakovlev |
| 2025 | ICLR | POGEMA: A Benchmark Platform for Cooperative Multi-Agent Pathfinding. | Alexey Skrynnik, Anton Andreychuk, Anatolii Borzilov, Alexander Chernyavskiy, Konstantin S. Yakovlev, Aleksandr Panov |
| 2025 | IROS | Advancing Learnable Multi-Agent Pathfinding Solvers with Active Fine-Tuning. | Anton Andreychuk, Konstantin S. Yakovlev, Aleksandr Panov, Alexey Skrynnik |
| 2025 | IROS | Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance With Model Predictive Path Integral | Stepan Dergachev, Konstantin S. Yakovlev |
| 2024 | AAAI | Improved Anonymous Multi-Agent Path Finding Algorithm. | Zain Alabedeen Ali, Konstantin S. Yakovlev |
| 2024 | AAAI | Learn to Follow: Decentralized Lifelong Multi-Agent Pathfinding via Planning and Learning. | Alexey Skrynnik, Anton Andreychuk, Maria Nesterova, Konstantin S. Yakovlev, Aleksandr Panov |
| 2024 | AAAI | Decentralized Monte Carlo Tree Search for Partially Observable Multi-Agent Pathfinding. | Alexey Skrynnik, Anton Andreychuk, Konstantin S. Yakovlev, Aleksandr Panov |
| 2024 | ECAI | Decentralized Unlabeled Multi-Agent Pathfinding Via Target And Priority Swapping. | Stepan Dergachev, Konstantin S. Yakovlev |
| 2024 | IROS | Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfinding. | Konstantin S. Yakovlev, Anton Andreychuk, Roni Stern |
| 2024 | SoCS | Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfinding (Extended Abstract). | Konstantin S. Yakovlev, Anton Andreychuk, Roni Stern |
| 2023 | AAAI | Safe Interval Path Planning with Kinodynamic Constraints. | Zain Alabedeen Ali, Konstantin S. Yakovlev |
| 2023 | AAAI | TransPath: Learning Heuristics for Grid-Based Pathfinding via Transformers. | Daniil E. Kirilenko, Anton Andreychuk, Aleksandr Panov, Konstantin S. Yakovlev |
| 2023 | HAIS | Monte-Carlo Tree Search for Multi-agent Pathfinding: Preliminary Results. | Yelisey Pitanov, Alexey Skrynnik, Anton Andreychuk, Konstantin S. Yakovlev, Aleksandr Panov |
| 2023 | ICMV | Maintaining topological maps for mobile robots. | Kirill Muravyev, Konstantin S. Yakovlev |
| 2022 | SoCS | Lower and Upper Bounds for Multi-Agent Multi-Item Pickup and Delivery: When a Decoupled Approach is Good Enough (Extended Abstract). | David Zahrdka, Anton Andreychuk, Miroslav Kulich, Konstantin S. Yakovlev |
| 2021 | AAAI | Improving Continuous-time Conflict Based Search. | Anton Andreychuk, Konstantin S. Yakovlev, Eli Boyarski, Roni Stern |
| 2021 | SoCS | Improving Continuous-time Conflict Based Search. | Anton Andreychuk, Konstantin S. Yakovlev, Eli Boyarski, Roni Stern |
| 2021 | SoCS | Towards Narrowing the Search in Bounded-Suboptimal Safe Interval Path Planning. | Toms Rybeck, Miroslav Kulich, Anton Andreychuk, Konstantin S. Yakovlev |
| 2020 | ICINCO | On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem. | Konstantin S. Yakovlev, Anton Andreychuk, Toms Rybeck, Miroslav Kulich |
| 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 |
| 2019 | DeSE | LPLian: Angle-Constrained Path Finding in Dynamic Grids. | Natalia Soboleva, Konstantin S. Yakovlev |
| 2019 | ICINCO | Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment. | Evgeni Denisov, Artur Sagitov, Konstantin S. Yakovlev, Kuo-Lan Su, Mikhail M. Svinin, Evgeni Magid |
| 2019 | IJCAI | Multi-Agent Pathfinding with Continuous Time. | Anton Andreychuk, Konstantin S. Yakovlev, Dor Atzmon, Roni Stern |
| 2019 | KI | GAN Path Finder: Preliminary Results. | Natalia Soboleva, Konstantin S. Yakovlev |
| 2017 | AIST | Original Loop-Closure Detection Algorithm for Monocular vSLAM. | Andrey Bokovoy, Konstantin S. Yakovlev |
| 2016 | AIST | A Real-Time Algorithm for Mobile Robot Mapping Based on Rotation-Invariant Descriptors and Iterative Close Point Algorithm. | Alexander Vokhmintcev, Konstantin S. Yakovlev |
| 2015 | KI | Grid-Based Angle-Constrained Path Planning. | Konstantin S. Yakovlev, Egor Baskin, Ivan Hramoin |
| 2014 | AIMSA | Finetuning Randomized Heuristic Search for 2D Path Planning: Finding the Best Input Parameters for R* Algorithm through Series of Experiments. | Konstantin S. Yakovlev, Egor Baskin, Ivan Hramoin |