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cs.RO2024
LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric
Kaixin Chai, Long Xu, Qianhao Wang +3
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots…
cs.RO2023
Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
Tingrui Zhang, Jingping Wang, Chao Xu +2
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environmen…
cs.RO2022
Automatic Parameter Adaptation for Quadrotor Trajectory Planning
Xin Zhou, Chao Xu, Fei Gao
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have…