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cs.RO2026
CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
Andrew Fishberg, Yixuan Jia, Jonathan P. How
Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop…
cs.RO2026
Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments
Mason Peterson, Qingyuan Li, Yixuan Jia +4
Successful robot automation requires accurate global localization to support repeatability, task planning, goal specification, and safe operation. However, reliable localization in…
cs.RO2026
Robust Dynamic Object Detection in Cluttered Indoor Scenes via Learned Spatiotemporal Cues
Juan Rached, Yixuan Jia, Kota Kondo +1
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heu…