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cs.RO2025
VLG-Loc: Vision-Language Global Localization from Labeled Footprint Maps
Mizuho Aoki, Kohei Honda, Yasuhiro Yoshimura +2
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and area…
cs.RO2024
Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation
Mizuho Aoki, Kohei Honda, Hiroyuki Okuda +1
Four-wheel independent drive and steering vehicle (4WIDS Vehicle, Swerve Drive Robot) has the ability to move in any direction by its eight degrees of freedom (DoF) control inputs.…
cs.RO2023
Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Kohei Honda, Naoki Akai, Kosuke Suzuki +4
This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed…