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cs.RO2026
Robust Active-Perception Control for Global-State-Free Aerial-Ground Cooperation
Mingxuan Zhang, Jiajun Yu, Baozhe Zhang +5
Aerial-ground cooperation requires real-time UAV--UGV relative-state information. Instead of maintaining global estimates for both robots, direct control in a UGV-attached non-iner…
cs.RO2026
ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization
Jiajun Yu, Guodong Liu, Li Wang +6
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing fr…