2 citations · 2 across the 12 of their papers we have counts for
13 papers
Memory in the Sky: Low-Altitude Question Answering with Multi-Agent Memory Aggregation
Chengyang Li, Yujie Wan, Shuai Wang +6
This paper studies low-altitude question answering (LAQA), in which distributed unmanned aerial vehicle (UAV) memories are aggregated at a ground server to answer questions about o…
Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level
Yueqi Zhu, Yan Pan, Chufan Rui +3
In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on pro…
MAD: Mapping-Aware World Models for Agile Quadrotor Flight
Xinhong Zhang, Runqing Wang, Yunfan Ren +6
Agile quadrotor flight in cluttered scenes requires more than a reactive mapping from a depth image to a control command: the vehicle must remember which regions have been observed…
PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motion
Zihong Lu, Zongzhuo Liu, Huaxu Li +6
Autonomous vision-based perching of quadrotors on moving inclined platforms is critical for air-ground collaboration but remains challenging due to the limited field of view (FOV).…
AttenA+: Rectifying Action Inequality in Robotic Foundation Models
Daojie Peng, Fulong Ma, Jiahang Cao +7
Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimizatio…
Multi-Floor Exploration for Ground Robots via an Incremental Reachable Graph and Structural Priors
Zhiwen Zhu, Jiaqi Chen, Xiangyi Huang +2
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such a…
FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
Jianping Li, Pengfei Wan, Zhongyuan Liu +6
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes de…
Synergizing Efficiency and Reliability for Continuous Mobile Manipulation
Chengkai Wu, Ruilin Wang, Yixin Zeng +7
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliabilit…
Memory Centric Power Allocation for Multi-Agent Embodied Question Answering
Chengyang Li, Shuai Wang, Kejiang Ye +5
This paper considers multi-agent embodied question answering (MA-EQA), which enables robot teams to answer queries based on their long-horizon observations. In contrast to existing…
OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency
Guiyong Zheng, Yueting Ban, Mingjie Zhang +2
Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from…
C-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration
Xinlu Yan, Mingjie Zhang, Yuhao Fang +5
Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose h…
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey
Chuqi Wang, Chao Yu, Xin Xu +11
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a com…
Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned
Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan +12
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features…