10 citations · 19 across the 6 of their papers we have counts for
6 papers
Task-driven SLAM Benchmarking For Robot Navigation
Yanwei Du, Shiyu Feng, Carlton G. Cort +1
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatabilit…
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
Hongyi Chen, Shiyu Feng, Ye Zhao +2
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, a…
Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots
Shiyu Feng, Ahmad Abuaish, Patricio A. Vela
This paper extends the gap-based navigation technique in Potential Gap by guaranteeing safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer…
Potential Gap: Using Reactive Policies to Guarantee Safe Navigation
Ruoyang Xu, Shiyu Feng, Patricio A. Vela
This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigati…
Image-Based Trajectory Tracking through Unknown Environments without Absolute Positioning
Shiyu Feng, Zixuan Wu, Yipu Zhao +1
This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map…
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Alexander H. Chang, Shiyu Feng, Yipu Zhao +2
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and…