6 papers
Homotopy-Aware Corridor Generation without Predefined Reference Paths
Haoze Dong, Minghan Li, Meng Guo +1
Generating safe corridors is essential for collision-free robotic motion planning, yet most existing methods rely on predefined reference paths, which bias corridor geometry and im…
Action ControlNet: A Lightweight Delay-Aware Adapter for Smooth Asynchronous Control in Vision-Language-Action Models
Tiecheng Guo, Meng Guo
Vision-language-action (VLA) models have shown strong potential for general-purpose robot manipulation, but their inference latency remains a major obstacle to stable high-frequenc…
Melding LLM and temporal logic for reliable human-swarm collaboration in complex scenarios
Junfeng Chen, Yuxiao Zhu, An Zhuo +6
Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into…
CoCoPlan: Adaptive Coordination and Communication for Multi-robot Systems in Dynamic and Unknown Environments
Xintong Zhang, Junfeng Chen, Yuxiao Zhu +2
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constra…
DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models
Yuxiao Zhu, Junfeng Chen, Xintong Zhang +2
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically…
Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control
Haoze Dong, Meng Guo, Chengyi He +1
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlock…