2 citations · 6 across the 11 of their papers we have counts for
11 papers
ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments
Kangjie Zhou, Zhaoyang Li, Han Gao +4
Target search and tracking (SAT) is a fundamental problem for various robotic applications such as search and rescue and environmental exploration. This paper proposes an informati…
Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning
Ziyuan Jiao, Yida Niu, Zeyu Zhang +5
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…
Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang +4
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, i…
Dynamic Planning for Sequential Whole-body Mobile Manipulation
Zhitian Li, Yida Niu, Yao Su +2
The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments. Previous researc…
CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping
Zhicheng He, Jiayang Wu, Jingwen Zhang +6
Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to…
ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking
Kangjie Zhou, Pengying Wu, Yao Su +4
This paper proposes an informative trajectory planning approach, namely, \textit{adaptive particle filter tree with sigma point-based mutual information reward approximation} (ASPI…
On the Emergence of Symmetrical Reality
Zhenliang Zhang, Zeyu Zhang, Ziyuan Jiao +4
Artificial intelligence (AI) has revolutionized human cognitive abilities and facilitated the development of new AI entities capable of interacting with humans in both physical and…
Learning Concept-Based Causal Transition and Symbolic Reasoning for Visual Planning
Yilue Qian, Peiyu Yu, Ying Nian Wu +3
Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visu…
Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements
Meng Wang, Yao Su, Hang Li +3
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equi…
Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators
Yao Su, Jiarui Li, Ziyuan Jiao +5
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequen…