4 papers
Occlusion-Aware Consistent Model Predictive Control for Robot Navigation in Occluded Obstacle-Dense Environments
Minzhe Zheng, Lei Zheng, Lei Zhu +1
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-awar…
CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Model
Ruoyu Yao, Yubin Wang, Haichao Liu +4
Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two p…
Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap
Kai Chen, Haichao Liu, Yulin Li +3
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of senso…
MCGMapper: Light-Weight Incremental Structure from Motion and Visual Localization With Planar Markers and Camera Groups
Yusen Xie, Zhenmin Huang, Kai Chen +2
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods d…