8 papers
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
The paper proposes a risk‑aware belief control barrier function framework that ensures robot safety in dynamic, uncertain environments by modeling multi‑object state uncertainty wi…
D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
Benxu Tang, Yixi Cai, Fanze Kong +2
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from…
Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
Benxu Tang, Yunfan Ren, Yixi Cai +6
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivid…
Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation
Yisheng Li, Longji Yin, Yixi Cai +6
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical g…
Temporal Overlapping Prediction: A Self-supervised Pre-training Method for LiDAR Moving Object Segmentation
Ziliang Miao, Runjian Chen, Yixi Cai +5
Moving object segmentation (MOS) on LiDAR point clouds is crucial for autonomous systems like self-driving vehicles. Previous supervised approaches rely heavily on costly manual an…
A Survey on LiDAR-based Autonomous Aerial Vehicles
Yunfan Ren, Yixi Cai, Haotian Li +6
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and contr…