5 papers
RMGS-SLAM: Real-time Multi-sensor Gaussian Splatting SLAM
Dongen Li, Yi Liu, Junqi Liu +8
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing metho…
Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions
Ruofei Bai, Shenghai Yuan, Xinhang Xu +5
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance pr…
CL-CoTNav: Closed-Loop Hierarchical Chain-of-Thought for Zero-Shot Object-Goal Navigation with Vision-Language Models
Yuxin Cai, Xiangkun He, Maonan Wang +3
Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often…
Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles
Ruofei Bai, Shenghai Yuan, Kun Li +3
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-…
Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization
Ruofei Bai, Shenghai Yuan, Hongliang Guo +3
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining rel…