3 papers
cs.RO2025
Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit
Peiwen Yang, Weisong Wen, Runqiu Yang +5
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion plann…
cs.RO2025
Wall Inspector: Quadrotor Control in Wall-proximity Through Model Compensation
Peiwen Yang, Weisong Wen, Runqiu Yang +2
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising…
cs.RO2025
Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint
Peiwen Yang, Mingquan Jiang, Xinyue Shen +1
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, t…