5 citations · 5 across the 16 of their papers we have counts for
17 papers
CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting
Yao Wang, Siyuan Wang, Zhirui Sun +4
Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore embodiment-specific mobility constraints. A path that is semantically…
UMCP: A Unified Multi-Task Collaborative Perception Network for Luggage Trolley Pose Estimation
Zhirui Sun, Zhihao Jiang, Yao Wang +2
In robotic autonomous luggage trolley collection, robots must continuously localize scattered luggage trolleys in cluttered and dynamic environments. This requires the vision syste…
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…
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…
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…
NAMR-RRT: Neural Adaptive Motion Planning for Mobile Robots in Dynamic Environments
Zhirui Sun, Bingyi Xia, Peijia Xie +2
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-bas…
LSTP-Nav: Lightweight Spatiotemporal Policy for Map-free Multi-agent Navigation with LiDAR
Xingrong Diao, Zhirui Sun, Jianwei Peng +1
Safe and efficient multi-agent navigation in dynamic environments remains inherently challenging, particularly when real-time decision-making is required on resource-constrained pl…
HPPS: A Hierarchical Progressive Perception System for Luggage Trolley Detection and Localization at Airports
Zhirui Sun, Zhe Zhang, Jieting Zhao +2
The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys at airports. However, existing methods for detecting and…
Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation
Peijia Xie, Bingyi Xia, Anjun Hu +6
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated…
Indoor Exploration and Simultaneous Trolley Collection Through Task-Oriented Environment Partitioning
Junjie Gao, Peijia Xie, Xuheng Gao +3
In this paper, we present a simultaneous exploration and object search framework for the application of autonomous trolley collection. For environment representation, a task-orient…
Multi-Risk-RRT: An Efficient Motion Planning Algorithm for Robotic Autonomous Luggage Trolley Collection at Airports
Zhirui Sun, Boshu Lei, Peijia Xie +4
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation…
A Systematic Evaluation of Different Indoor Localization Methods in Robotic Autonomous Luggage Trolley Collection at Airports
Zhirui Sun, Weinan Chen, Jiankun Wang +1
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it.…
FabricFolding: Learning Efficient Fabric Folding without Expert Demonstrations
Can He, Lingxiao Meng, Zhirui Sun +2
Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation…
Multi-Tree Guided Efficient Robot Motion Planning
Zhirui Sun, Jiankun Wang, Max Q. -H. Meng
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to thei…