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cs.RO2022
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…
cs.RO2022
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…
cs.RO2022
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…