3 papers
cs.RO2026
BAT-Nav: Budget-Aware Arbitration and Termination for Long-Horizon Semantic Navigation
Xi Lin, Kangyi Wu, Jiayi Li +3
Long-horizon semantic navigation asks a robot to localize multiple open-vocabulary targets under a finite action budget. This setting exposes an execution failure that is largely h…
cs.RO2025
DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching
Yewei Huang, John McConnell, Xi Lin +1
We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by intro…
cs.RO2024
Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles
Xi Lin, Paul Szenher, Yewei Huang +1
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in…