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Lomonosov Moscow State University

Academic institutioneurope · ru
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Research library175linked papers
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Selected work

Representative Papers

Maximally Extendable Product Codes are Good Coboundary Expanders

Jan 02, 2025

High-dimensional quantum LDPC codes and classical locally testable codes (LTCs) suffer from insufficient expansion, limiting their local testability and robustness. Method: We systematically investigate upper-edge expansion in multi-code (≥4) product constructions, integrating combinatorial coding theory, cohomological analysis, and random code ensemble techniques. Contribution/Results: We establish, for the first time, that large random code families exhibit strong product expansion; moreover, we prove that multi-code product expansion strictly surpasses bipartite (two-code) expansion—a novel structural property. We further derive an exact quantitative trade-off between expansion and local testability, thereby providing both theoretical guarantees and a constructive pathway toward the first explicit four-code quantum LTC. This framework significantly enhances local testability and robustness of quantum LDPC codes.

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Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural

Oct 14, 2024IEEE/RJS International Conference on Intelligent RObots and Systems

This study addresses autonomous large-scale drone-based mural painting under challenging outdoor conditions—specifically high winds (up to 8 m/s) and intense solar illumination. Methodologically, it introduces a robust flight-painting system featuring: (1) a fused infrared motion-capture and LiDAR-based localization architecture enabling centimeter-level real-time pose estimation; (2) a tangential–normal decoupled trajectory tracking controller ensuring sub-millimeter accuracy for complex curved paths; and (3) a ROS-driven turbulence-resilient spray actuation mechanism coupled with optimized path planning. Experimental validation demonstrates sustained trajectory tracking error below 1.2 mm under operational extremes, culminating in the successful completion of the world’s largest drone-painted mural (>300 m²). This work extends the frontier of robotic applications in high-precision creative arts and establishes a reusable technical paradigm for outdoor autonomous artistic fabrication.

1 citationsRead paper
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