1 citations · 1 across the 15 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…
MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups
Yusen Xie, Zhenmin Huang, Kai Chen +2
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods d…
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…