2 papers
cs.RO2024
RHAML: Rendezvous-based Hierarchical Architecture for Mutual Localization
Gaoming Chen, Kun Song, Xiang Xu +2
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual local…
cs.RO2023
FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning
Kun Song, Wenhang Liu, Gaoming Chen +2
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem,…