5 papers · 1 filter
ParaMaP: Parallel Mapping and Collision-free Motion Planning for Reactive Robot Manipulation
Xuewei Zhang, Bailing Tian, Kai Zheng +3
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent onl…
YOPO-Rally: A Sim-to-Real Single-Stage Planner for Off-Road Terrain
Hongyu Cao, Junjie Lu, Xuewei Zhang +3
Off-road navigation remains challenging for autonomous robots due to the harsh terrain and clustered obstacles. In this letter, we extend the YOPO (You Only Plan Once) end-to-end n…
YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action
Junjie Lu, Yulin Hui, Xuewei Zhang +4
Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On th…
Sampling-Based Hierarchical Trajectory Planning for Formation Flight
Qingzhao Liu, Bailing Tian, Xuewei Zhang +2
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing…
2DLIW-SLAM:2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure
Bin Zhang, Zexin Peng, Bi Zeng +1
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM…