16 papers
Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environment
Denan Liang, Yuan Zhu, Ruimeng Liu +3
Although legged robots demonstrate impressive mobility on rough terrain, using them safely in cluttered environments remains a challenge. A key issue is their inability to avoid st…
Topological Motion Planning Diffusion: Generative Tangle-Free Path Planning for Tethered Robots in Obstacle-Rich Environments
Yifu Tian, Xinhang Xu, Thien-Minh Nguyen +1
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planne…
Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage
Zhuoran Qiao, Tianxin Hu, Thien-Minh Nguyen +1
Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually…
PanoDP: Learning Collision-Free Navigation with Panoramic Depth and Differentiable Physics
Hao Zhong, Pei Chi, Jiang Zhao +4
Autonomous collision-free navigation in cluttered environments requires safe decision-making under partial observability with both static structure and dynamic obstacles. We presen…
Task-Level Decisions to Gait Level Control: A Hierarchical Policy Approach for Quadruped Navigation
Sijia Li, Haoyu Wang, Shenghai Yuan +2
Real-world quadruped navigation is constrained by a scale mismatch between high-level navigation decisions and low-level gait execution, as well as by instabilities under out-of-di…
Coordinate-Consistent Localization via Continuous-Time Calibration and Fusion of UWB and SLAM Observations
Tien-Dat Nguyen, Thien-Minh Nguyen, Vinh-Hao Nguyen
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of…