21 citations · 21 across the 11 of their papers we have counts for
11 papers
Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities
Yuezhong Wang, Rongshen Yin, Bichi Zhang +1
Inspection is a core capability in many mobile robotics applications, including industrial facility monitoring, infrastructure maintenance, agriculture, and search and rescue. Obse…
Robot-Body-Aware Traversal Risk Graph Planning for Wheeled-Legged Robots in Complex Terrain
Zhiqiao Guo, Bichi Zhang, Sören Schwertfeger
Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-alig…
osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy
Yongqi Zhang, Jiajie Zhang, Chengqian Li +2
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision.…
HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation
Zihui Yu, Pingcong Li, Bichi Zhang +1
Vision-and-Language Navigation (VLN) is shifting from rigid, step-by-step instruction following toward open-vocabulary, goal-oriented autonomy. Achieving this transition without ex…
From Observation to Action: Latent Action-based Primitive Segmentation for VLA Pre-training in Industrial Settings
Jiajie Zhang, Sören Schwertfeger, Alexander Kleiner
We present a novel unsupervised framework to unlock vast unlabeled human demonstration data from continuous industrial video streams for Vision-Language-Action (VLA) model pre-trai…
WiFi-based Global Localization in Large-Scale Environments Leveraging Structural Priors from osmAG
Xu Ma, Jiajie Zhang, Fujing Xie +1
Global localization is essential for autonomous robotics, especially in indoor environments where the GPS signal is denied. We propose a novel WiFi-based localization framework tha…
osmAG-LLM: Zero-Shot Open-Vocabulary Object Navigation via Semantic Maps and Large Language Models Reasoning
Fujing Xie, Sören Schwertfeger, Hermann Blum
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find obje…
Generation of Indoor Open Street Maps for Robot Navigation from CAD Files
Jiajie Zhang, Shenrui Wu, Xu Ma +1
The deployment of autonomous mobile robots is predicated on the availability of environmental maps, yet conventional generation via SLAM (Simultaneous Localization and Mapping) suf…
Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot
Fujing Xie, Jiajie Zhang, Sören Schwertfeger
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike rob…
Robust Lifelong Indoor LiDAR Localization using the Area Graph
Fujing Xie, Sören Schwertfeger
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indo…
Optimizing the extended Fourier Mellin Transformation Algorithm
Wenqing Jiang, Chengqian Li, Jinyue Cao +1
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FM…