6 papers
Synergizing Efficiency and Reliability for Continuous Mobile Manipulation
Chengkai Wu, Ruilin Wang, Yixin Zeng +7
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliabilit…
OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency
Guiyong Zheng, Yueting Ban, Mingjie Zhang +2
Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from…
C-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration
Xinlu Yan, Mingjie Zhang, Yuhao Fang +5
Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose h…
ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion
Mingjie Zhang, Yuheng Du, Chengkai Wu +4
Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making m…
Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned
Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan +12
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features…
SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction
Mingjie Zhang, Chen Feng, Zengzhi Li +6
Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically des…