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cs.RO2026
Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation
Yitao Jiang, Yewei Huang, Weizhi Cao +5
The Manipulider is a buoyancy-actuated underwater robot that enables thrusterless, glide-like locomotion and attitude-based manipulation, while providing a magnetic modular interfa…
cs.RO2026
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4
We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework for multi-robot operation in GPS-denied and communication-constrained environments.…
cs.RO2026
Variable-Resolution Virtual Maps for Autonomous Exploration with Unmanned Surface Vehicles (USVs)
Ye Li, Yewei Huang, Yongchang Xie +4
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by…