5 papers
IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion
Hongming Chen, Yiyang Lin, Ziliang Li +3
Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches of…
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints
Dingchuan Liu, Fangfang Yang, Xuanhong Liao +1
Wheeled bipedal robots offer the advantages of both wheeled and legged robots, combining the ability to traverse a wide range of terrains and environments with high efficiency. How…
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
Nan Chen, Fanze Kong, Haotian Li +6
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast…
Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment
Jingping Wang, Long Xu, Haoran Fu +5
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by specia…