6 papers
Whole-Body Aerial Grasping and Lifting via Partial Visual Observations
Jiaye Jin, Rui Jin, Xinhang Xu +6
Aerial grasp-and-lift tasks require whole-body coordination across approach, acquisition, and lifting under partial target observations. Early approach failures can limit exposure…
From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation
Weixiang Guo, Rui Jin, Haotian Jin +7
Vision-language-action (VLA) models enable task-conditioned interaction, but extending them to scene-scale aerial manipulation remains challenging due to costly whole-body demonstr…
QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning
Rui Jin, Ruiyang Liu, Xinhang Xu +5
Uncrewed aerial manipulators (UAMs) integrate robotic arms with aerial platforms for three-dimensional physical interaction. However, enlarging the workspace increases arm-induced…
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
Yi Wang, Rui Jin, Xinhang Xu +4
Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-…
FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
Jianping Li, Pengfei Wan, Zhongyuan Liu +6
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes de…
Adaptive Motorized LiDAR Scanning Control for Robust Localization with OpenStreetMap
Jianping Li, Kaisong Zhu, Zhongyuan Liu +4
LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consis…