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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…
SPOT: Sensing-augmented Trajectory Planning via Obstacle Threat Modeling
Chi Zhang, Xian Huang, Wei Dong
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision…
Multi-View Active Sensing for Human-Robot Interaction via Hierarchically Connected Tree
Yuanjiong Ying, Xian Huang, Wei Dong
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a sin…
CEASE: Collision-Evaluation-based Active Sense System for Collaborative Robotic Arms
Xian Huang, Yuanjiong Ying, Wei Dong
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stat…