101 citations · 142 across the 7 of their papers we have counts for
9 papers
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
Jinkun Wang, Fanfei Chen, Yewei Huang +3
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncerta…
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Tixiao Shan, Brendan Englot, Carlo Ratti +1
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high ac…
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty
Fanfei Chen, Paul Szenher, Yewei Huang +4
This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-pe…
Robust Place Recognition using an Imaging Lidar
Tixiao Shan, Brendan Englot, Fabio Duarte +2
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity reading…
A Receding Horizon Multi-Objective Planner for Autonomous Surface Vehicles in Urban Waterways
Tixiao Shan, Wei Wang, Brendan Englot +2
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating a…
Roboat II: A Novel Autonomous Surface Vessel for Urban Environments
Wei Wang, Tixiao Shan, Pietro Leoni +4
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM…