4 papers
SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification
Junbin Yuan, Muqing Cao, Yunwoo Lee +2
Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of an intended motion to be observed and verified free before execution…
IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning
Brady Moon, Nayana Suvarna, Andrew Jong +4
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collectio…
Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain
Jiaxing Li, Wen Tian, Xinhang Xu +3
Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-h…
Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty
Junbin Yuan, Brady Moon, Muqing Cao +1
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As…