1 citations · 3 across the 21 of their papers we have counts for
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FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions
Yulin Li, Zhicheng Song, Chunxin Zheng +4
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and u…
Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models
Jiahang Cao, Qiang Zhang, Jingkai Sun +11
Diffusion models have been widely employed in the field of 3D manipulation due to their efficient capability to learn distributions, allowing for precise prediction of action traje…
Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming
Yulin Li, Chunxin Zheng, Kai Chen +4
In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by p…
Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap
Kai Chen, Haichao Liu, Yulin Li +3
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of senso…
Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication
Haichao Liu, Zhenmin Huang, Zicheng Zhu +3
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of h…