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cs.RO2026
Learning Smooth SE(3) Trajectories under Left-Invariant Riemannian Metrics
Yuwei Wu, Vijay Kumar
Optimal trajectory generation for rigid-body motions on Lie groups can be formulated as a variational problem that minimizes energy functionals defined by Riemannian metrics. While…
cs.RO2026
EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs
Jinyuan Zhang, Yuwei Wu, Guangyao Shi +3
Multi-robot teams operating in confined or cluttered environments must adapt both their formation geometry and group topology to navigate through complex obstacles. This adaptation…
cs.RO2026
STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments
Yuwei Wu, Yichen Zhao, Dexter Ong +1
Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed…