5 papers
N2M: Bridging Navigation and Manipulation by Learning Pose Preference from Rollout
Kaixin Chai, Hyunjun Lee, Joseph J. Lim
Determining where to execute the manipulation policy is a fundamental challenge in mobile manipulation. Most approaches have formulated this as a geometric search problem, prioriti…
Ground-Effect-Aware Modeling and Control for Multicopters
Tiankai Yang, Kaixin Chai, Jialin Ji +3
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to exte…
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments
Long Xu, Kaixin Chai, Boyuan An +11
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers…
LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
Kaixin Chai, Long Xu, Qianhao Wang +3
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots…