5 papers
NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry
Zhehan Li, Jiadong Lu, Shengwei Ren +2
We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only identified inter-robot bearings, ranges, and IMU measurements. NeuRIO ca…
Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
Jiadong Lu, Zhehan Li, Tao Han +4
Accurate relative localization is critical for multi-robot cooperation. In robot groups, measurements from different robots arrive asynchronously and with clock time-offsets. Altho…
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or t…
Mr. Virgil: Learning Multi-robot Visual-range Relative Localization
Si Wang, Zhehan Li, Jiadong Lu +3
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between rob…
Sums with Stern-Brocot sequences and Minkowski question mark function
Haomin Liu, Jiadong Lü, Yonghao Xie
We give an affirmative answer to a question asked by N. Moshchevitin \cite{m1} in his lecture at International Congress of Basic Science, Beijing, 2024 (see also \cite{m}, Section…