4 papers
CoFL: Continuous Flow Fields for Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Existing language-conditioned navigation systems typically rely on modular pipelines or trajectory generators, but the latter use each scene--instruction annotation mainly to super…
Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism
Yita Wang, Chen Chen, Yicheng Chen +5
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among…
Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments
Yicheng Chen, Jinjie Li, Haokun Liu +3
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and…
Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li +6
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and roto…