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cs.RO2026
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Yisheng Li, Longji Yin, Tingrui Zhang +6
Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered environments, yet existing planners either oversimplify the payload geome…
cs.RO2024
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
cs.RO2024
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu, Yunfan Ren, Longji Yin +8
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state es…