6 papers
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suf…
Unlocking Zero-shot Potential of Semi-dense Image Matching via Gaussian Splatting
Juncheng Chen, Chao Xu, Yanjun Cao
Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view s…
Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation
Baozhe Zhang, Xinwei Chen, Qingcheng Chen +3
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation…
Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles
Yuman Gao, Ruibin Zhang, Tiancheng Lai +3
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous explora…
TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity
Jiajun Yu, Nanhe Chen, Guodong Liu +3
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale…
Efficient Trajectory Generation Based on Traversable Planes in 3D Complex Architectural Spaces
Mengke Zhang, Zhihao Tian, Yaoguang Xia +3
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabili…