21 citations · 21 across the 11 of their papers we have counts for
4 papers · 1 filter
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…