4 papers · 1 filter
CoSMO: Conformal Semantic Mapping for Open-World Safe Robot Navigation
Shuqi Wang, Yiwei Zheng, Pingrui Zhang +2
Safe autonomous navigation requires not only geometric obstacle avoidance but also semantic awareness. Different object categories demand different safety clearances, and the set o…
Signal Temporal Logic Motion Planning via Graphs of Convex Sets
Yu Chen, Ancheng Hou, Mingyang Feng +2
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level…
STEAM: A Training-Free Congestion-Aware Enhancement Framework for Decentralized Multi-Agent Path Finding
Mingyang Feng, Mengnuo Zhang, Shaoyuan Li +1
We propose STEAM (Spatial, Temporal, and Emergent congestion Awareness for MAPF), a training-free test-time enhancement framework for learning-based decentralized Multi-Agent Path…
RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer
Mingyang Feng, Shaoyuan Li, Xiang Yin
We investigate the sampling-based optimal path planning problem for robotics in complex and dynamic environments. Most existing sampling-based algorithms neglect environmental info…