1 citations · 1 across the 8 of their papers we have counts for
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Memory-Aware Multi-Sensor Perception for Efficient and Safe Navigation in Dynamic Environments
Jingshuo Li, Yifan Xue, Yifei Li +2
Autonomous navigation in previously unseen environments requires effective perception, persistent environmental representation, and collision avoidance while maintaining progress t…
N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme
Yifan Xue, Toktam Mohammadnejad, Faizan M Tariq +5
Autonomous parking requires efficient path planning that ensures kinematic feasibility and collision avoidance in constrained environments. Hybrid A* is widely used but computation…
Proactive Local-Minima-Free Robot Navigation: Blending Motion Prediction with Safe Control
Yifan Xue, Ze Zhang, Knut Åkesson +1
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Contro…
Occupancy-aware Trajectory Planning for Autonomous Valet Parking in Uncertain Dynamic Environments
Farhad Nawaz, Faizan M. Tariq, Sangjae Bae +5
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches ei…
Graph-based Path Planning with Dynamic Obstacle Avoidance for Autonomous Parking
Farhad Nawaz, Minjun Sung, Darshan Gadginmath +6
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To ad…
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
Satyajeet Das, Yifan Xue, Haoming Li +1
Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision…
Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
Ze Zhang, Yifan Xue, Nadia Figueroa +1
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gra…
ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation
Anusha Srikanthan, Yifan Xue, Vijay Kumar +2
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We a…
No Undesirable Equilibria, No Collisions: Combining Modulation and Control Barrier Functions for Liveness and Safety in Dynamic Collision Avoidance
Yifan Xue, Nadia Figueroa
Control Barrier Function Quadratic Programs (CBF-QPs) provide formal safety guarantees for general control-affine systems and accommodate actuation constraints, but do not inherent…