8 citations · 13 across the 7 of their papers we have counts for
7 papers
Interpretable and Flexible Target-Conditioned Neural Planners For Autonomous Vehicles
Haolan Liu, Jishen Zhao, Liangjun Zhang
Learning-based approaches to autonomous vehicle planners have the potential to scale to many complicated real-world driving scenarios by leveraging huge amounts of driver demonstra…
Learning Excavation of Rigid Objects with Offline Reinforcement Learning
Shiyu Jin, Zhixian Ye, Liangjun Zhang
Autonomous excavation is a challenging task. The unknown contact dynamics between the excavator bucket and the terrain could easily result in large contact forces and jamming probl…
VINet: Visual and Inertial-based Terrain Classification and Adaptive Navigation over Unknown Terrain
Tianrui Guan, Ruitao Song, Zhixian Ye +1
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling s…
A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments
Zeqing Zhang, Yinqiang Zhang, Ruihua Han +2
In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including va…
Excavation Reinforcement Learning Using Geometric Representation
Qingkai Lu, Yifan Zhu, Liangjun Zhang
Excavation of irregular rigid objects in clutter, such as fragmented rocks and wood blocks, is very challenging due to their complex interaction dynamics and highly variable geomet…
TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators
Tianrui Guan, Zhenpeng He, Ruitao Song +2
We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extrac…
Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator
Yajue Yang, Jia Pan, Pinxin Long +2
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates th…