6 papers · 1 filter
A Simulation Platform for Flapping-Wing Vehicles
Haichuan Li, Tomi Westerlund
Flapping-wing aerial vehicles (FWAVs) demonstrate remarkable agility but face substantial autonomy challenges due to their high sensitivity to aerodynamic disturbances and limited…
SAFEVPR: Patch-Based Conformal Verification for Safe Cross-Condition Sequence Visual Place Recognition
Ha Sier, Jiaqiang Zhang, Zhuo Zou +2
Sequence-based visual place recognition (VPR) for SLAM and robot relocalization must decide whether the retrieved top-1 candidate is safe to accept. Conformal prediction is a natur…
Decentralized Intent-Based Multi-Robot Task Planner with LLM Oracles on Hyperledger Fabric
Farhad Keramat, Salma Salimi, Tomi Westerlund
Large language models (LLMs) have opened new opportunities for transforming natural language user intents into executable actions. This capability enables embodied AI agents to per…
INDOOR-LiDAR: Bridging Simulation and Reality for Robot-Centric 360 degree Indoor LiDAR Perception -- A Robot-Centric Hybrid Dataset
Haichuan Li, Changda Tian, Panos Trahanias +1
We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffe…
PhysVarMix: Physics-Informed Variational Mixture Model for Multi-Modal Trajectory Prediction
Haichuan Li, Tomi Westerlund
Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments character…
IndoorBEV: Joint Detection and Footprint Completion of Objects via Mask-based Prediction in Indoor Scenarios for Bird's-Eye View Perception
Haichuan Li, Changda Tian, Panos Trahanias +1
Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-…