8 papers
FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
Jianping Li, Pengfei Wan, Zhongyuan Liu +6
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes de…
S3KF: Spherical State-Space Kalman Filtering for Panoramic 3D Multi-Object Tracking
Zhongyuan Liu, Shaonan Yu, Jianping Li +5
Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these setti…
OmniVLN: Omnidirectional 3D Perception and Token-Efficient LLM Reasoning for Visual-Language Navigation across Air and Ground Platforms
Zhongyuang Liu, Min He, Shaonan Yu +5
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliab…
STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response
Shenghai Yuan, Weixiang Guo, Tianxin Hu +5
In emergency response missions, first responders must navigate cluttered indoor environments where occlusions block direct line-of-sight, concealing both life-threatening hazards a…
PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo +3
Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, lim…
Adaptive Motorized LiDAR Scanning Control for Robust Localization with OpenStreetMap
Jianping Li, Kaisong Zhu, Zhongyuan Liu +4
LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consis…