3 papers
cs.RO2026
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…
cs.RO2025
BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure
Haoxin Cai, Shenghai Yuan, Xinyi Li +2
This work introduces BEV-LIO(LC), a novel LiDAR-Inertial Odometry (LIO) framework that combines Bird's Eye View (BEV) image representations of LiDAR data with geometry-based point…
cs.RO2025
LL-Localizer: A Life-Long Localization System based on Dynamic i-Octree
Xinyi Li, Shenghai Yuan, Haoxin Cai +3
This paper proposes an incremental voxel-based life-long localization method, LL-Localizer, which enables robots to localize robustly and accurately in multi-session mode using pri…