12 papers
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 +5
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…