8 papers
CTS-PLL: A Robust and Anytime Framework for Collaborative Task Sequencing and Multi-Agent Path Finding
Junkai Jiang, Yitao Xu, Ruochen Li +2
The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant cha…
Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks
Zeyu Han, Shuocheng Yang, Minghan Zhu +4
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as…
SparseCoop: Cooperative Perception with Kinematic-Grounded Queries
Jiahao Wang, Zhongwei Jiang, Wenchao Sun +8
Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, curr…
RaFD: Flow-Guided Radar Detection for Robust Autonomous Driving
Shuocheng Yang, Zikun Xu, Jiahao Wang +3
Radar has shown strong potential for robust perception in autonomous driving; however, raw radar images are frequently degraded by noise and "ghost" artifacts, making object detect…
RINO: Accurate, Robust Radar-Inertial Odometry with Non-Iterative Estimation
Shuocheng Yang, Yueming Cao, Shengbo Eben Li +2
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded perfo…
ESCoT: An Enhanced Step-based Coordinate Trajectory Planning Method for Multiple Car-like Robots
Junkai Jiang, Yihe Chen, Yibin Yang +3
Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an…