188 citations · 620 across the 43 of their papers we have counts for
7 papers · 2 filters
Coordinate-Consistent Localization via Continuous-Time Calibration and Fusion of UWB and SLAM Observations
Tien-Dat Nguyen, Thien-Minh Nguyen, Vinh-Hao Nguyen
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of…
PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo +3
Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, lim…
Aerial Target Encirclement and Interception with Noisy Range Observations
Fen Liu, Shenghai Yuan, Thien-Minh Nguyen +2
This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this appr…
EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events
Siyu Chen, Shenghai Yuan, Thien-Minh Nguyen +4
Gaussian Splatting SLAM (GS-SLAM) offers a notable improvement over traditional SLAM methods, enabling photorealistic 3D reconstruction that conventional approaches often struggle…
Autonomous 3D Moving Target Encirclement and Interception with Range measurement
Fen Liu, Shenghai Yuan, Thien-Minh Nguyen +1
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target…
Tire Wear Aware Trajectory Tracking Control for Multi-axle Swerve-drive Autonomous Mobile Robots
Tianxin Hu, Xinhang Xu, Thien-Minh Nguyen +3
Multi-axle Swerve-drive Autonomous Mobile Robots (MS-AGVs) equipped with independently steerable wheels are commonly used for high-payload transportation. In this work, we present…
Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned
Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan +12
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features…