4 papers
UGV-Conditioned Multi-UAV Informative Planning on a Shared Exposure Belief
Lars Oerlemans, Moji Shi, Marija Popovic
Safe ground navigation in large, threat-augmented environments requires aerial support that actively reduces the risks that a ground vehicle faces along its route. Existing aerial…
Perception-Aware Autonomous Exploration in Feature-Limited Environments
Moji Shi, Rajitha de Silva, Hang Yu +3
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage e…
EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
Jacob Elskamp, Moji Shi, Leonard Bauersfeld +2
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Stan…
Learning Humanoid Locomotion with Perceptive Internal Model
Junfeng Long, Junli Ren, Moji Shi +4
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degre…