44 citations · 133 across the 56 of their papers we have counts for
9 papers · 1 filter
SONAR: Semantic-Object Navigation with Aggregated Reasoning through a Cross-Modal Inference Paradigm
Yao Wang, Zhirui Sun, Wenzheng Chi +3
Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily re…
DA-VPC: Disturbance-Aware Visual Predictive Control Scheme of Docking Maneuvers for Autonomous Trolley Collection
Yuhan Pang, Bingyi Xia, Zhe Zhang +5
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and r…
ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments
Jingwen Yu, Jiayi Yang, Anjun Hu +5
Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction an…
VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation
Kefeng Huang, Tingguang Li, Yuzhen Liu +3
Diffusion policy has demonstrated promising performance in the field of robotic manipulation. However, its effectiveness has been primarily limited in short-horizon tasks, and its…
Socially Aware Robot Crowd Navigation via Online Uncertainty-Driven Risk Adaptation
Zhirui Sun, Xingrong Diao, Yao Wang +2
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many exist…
Integrating Maneuverable Planning and Adaptive Control for Robot Cart-Pushing under Disturbances
Zhe Zhang, Peijia Xie, Yuhan Pang +4
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning pro…
PierGuard: A Planning Framework for Underwater Robotic Inspection of Coastal Piers
Pengyu Wang, Hin Wang Lin, Jialu Li +3
Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achievi…
A Predictive Cooperative Collision Avoidance for Multi-Robot Systems Using Control Barrier Function
Xiaoxiao Li, Zhirui Sun, Hongpeng Wang +2
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guar…
Collision Risk Quantification and Conflict Resolution in Trajectory Tracking for Acceleration-Actuated Multi-Robot Systems
Xiaoxiao Li, Zhirui Sun, Mansha Zheng +3
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free…