2 papers
cs.RO2026
Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities
Yuezhong Wang, Rongshen Yin, Bichi Zhang +1
Inspection is a core capability in many mobile robotics applications, including industrial facility monitoring, infrastructure maintenance, agriculture, and search and rescue. Obse…
cs.RO2026
Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain
Zhiqiao Guo, Bichi Zhang, Sören Schwertfeger
Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-alig…