17 citations · 18 across the 8 of their papers we have counts for
5 papers · 1 filter
EXACT-MPPI: Exact Signed-Distance Navigation for Arbitrary-Footprint Robots from Point Clouds via Path Integral Control
Chen Peng, Zhikang Ge, Wenwu Lu +3
Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then req…
ERPoT: Effective and Reliable Pose Tracking for Mobile Robots Using Lightweight Polygon Maps
Haiming Gao, Qibo Qiu, Hongyan Liu +3
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpin…
CVR-LSE: Compact Vectorization Representation of Local Static Environments for Unmanned Ground Vehicles
Haiming Gao, Qibo Qiu, Wei Hua +3
According to the requirement of general static obstacle detection, this paper proposes a compact vectorization representation approach of local static environments for unmanned gro…
EMoP: Efficient Motion Planning Based on Heuristic-Guided Motion Primitives Pruning and Path Optimization With Sparse-Banded Structure
Jian Wen, Xuebo Zhang, Haiming Gao +2
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-sc…
CAE-RLSM: Consistent and Efficient Redundant Line Segment Merging for Online Feature Map Building
Jian Wen, Xuebo Zhang, Haiming Gao +2
In order to obtain a compact line segment-based map representation for localization and planning of mobile robots, it is necessary to merge redundant line segments which physically…