7 papers · 1 filter
ReSPIRe: Informative and Reusable Belief Tree Search for Robot Probabilistic Search and Tracking in Unknown Environments
Kangjie Zhou, Zhaoyang Li, Han Gao +4
Target search and tracking (SAT) is a fundamental problem for various robotic applications such as search and rescue and environmental exploration. This paper proposes an informati…
Integration of Robot and Scene Kinematics for Sequential Mobile Manipulation Planning
Ziyuan Jiao, Yida Niu, Zeyu Zhang +5
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when…
Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments
Han Gao, Pengying Wu, Yao Su +4
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…
Flight Structure Optimization of Modular Reconfigurable UAVs
Yao Su, Ziyuan Jiao, Zeyu Zhang +4
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, i…
Dynamic Planning for Sequential Whole-body Mobile Manipulation
Zhitian Li, Yida Niu, Yao Su +2
The dynamic Sequential Mobile Manipulation Planning (SMMP) framework is essential for the safe and robust operation of mobile manipulators in dynamic environments. Previous researc…