4 papers
ParaMaP: Parallel Mapping and Collision-free Motion Planning for Reactive Robot Manipulation
Xuewei Zhang, Bailing Tian, Kai Zheng +3
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent onl…
YOPO-Rally: A Sim-to-Real Single-Stage Planner for Off-Road Terrain
Hongyu Cao, Junjie Lu, Xuewei Zhang +3
Off-road navigation remains challenging for autonomous robots due to the harsh terrain and clustered obstacles. In this letter, we extend the YOPO (You Only Plan Once) end-to-end n…
YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action
Junjie Lu, Yulin Hui, Xuewei Zhang +4
Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On th…
Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor
Liwen Xu, Bailing Tian, Cong Wang +4
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a…