2 papers
cs.RO2026
EXACT-MPPI: Exact Signed-Distance Navigation for Arbitrary-Footprint Robots from Point Clouds via Path Integral Control
Chen Peng, Zhikang Ge, Wenwu Lu +3
Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then req…
cs.RO2025
ERPoT: Effective and Reliable Pose Tracking for Mobile Robots Using Lightweight Polygon Maps
Haiming Gao, Qibo Qiu, Hongyan Liu +3
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpin…