3 papers
cs.RO2026
Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling
Lingpeng Chen, Yuchen Zheng, Apple Pui-Yi Chui +2
Efficient monitoring of sparse benthic phenomena, such as coral colonies, presents a great challenge for Autonomous Underwater Vehicles. Traditional exhaustive coverage strategies…
cs.RO2025
Distributed Multi-robot Source Seeking in Unknown Environments with Unknown Number of Sources
Lingpeng Chen, Siva Kailas, Srujan Deolasee +3
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the nu…
cs.RO2024
BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…