5 papers
Learning Air-Ground Motion Control with Temporal Mode Switching and Cross-Terrain Tracking
Ruitian Pang, Mingrui Li, Xuanting Liu +10
Passive-wheeled terrestrial-aerial bimodal vehicles (TABVs) combine aerial mobility with energy-efficient ground locomotion. However, reliable air-ground mode switching under limit…
TADreamer: Zero-Shot Language-Guided 3D Navigation for Terrestrial-Aerial Bimodal Robots via Video Imagination
Xiangyu Li, Tiancheng Lai, Xijie Huang +7
Language-guided navigation for terrestrial-aerial bimodal robots requires selecting routes and locomotion modes that match scene context and task intent. Generated videos can repre…
Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations
Xingpeng Wang, Ziwen Qu, Juncheng Chen +8
Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in field robotics. Advances in Real-Time Kinematic (RTK) technology can…
FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation
Mengke Zhang, Sitong Li, Tiancheng Lai +6
Safe and efficient trajectory planning in unknown, cluttered 3D environments constitutes a critical bottleneck for deploying Unmanned Aerial Vehicles (UAVs) in real-world applicati…
Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments with Prior Maps
Tiancheng Lai, Yuman Gao, Xiangyu Li +8
Autonomous exploration with UAVs in large-scale, topologically complex environments often suffers from low efficiency due to suboptimal scheduling and detours. Prior maps (e.g., co…