8 papers
The Goldbach exceptional set: an exponent 7/12 and conditional refinement
János Pintz, Ingo Althöfer
Let \(E(X)\) count the even integers between \(4\) and \(X\) that are not sums of two primes. We combine Pintz's explicit formula for the major arcs with the exponential-sum estima…
Some Modifications to Our End-to-End UAV Planner
Junjie Lu, Bailing Tian
The one-stage planner YOPO maps a single depth image and the robot state directly to a set of candidate trajectories, trained by backpropagating through differentiable trajectory c…
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…
Sampling-Based Hierarchical Trajectory Planning for Formation Flight
Qingzhao Liu, Bailing Tian, Xuewei Zhang +2
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing…
2DLIW-SLAM:2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure
Bin Zhang, Zexin Peng, Bi Zeng +1
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM…