3 papers
cs.RO2025
REASAN: Learning Reactive Safe Navigation for Legged Robots
Qihao Yuan, Ziyu Cao, Ming Cao +1
We present a novel modularized end-to-end framework for legged reactive navigation in complex dynamic environments using a single light detection and ranging (LiDAR) sensor. The sy…
cs.RO2025
RESPLE: Recursive Spline Estimation for LiDAR-Based Odometry
Ziyu Cao, William Talbot, Kailai Li
We present a novel recursive Bayesian estimation framework using B-splines for continuous-time 6-DoF dynamic motion estimation. The state vector consists of a recurrent set of posi…
cs.RO2025
A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation
Thien-Minh Nguyen, Ziyu Cao, Kailai Li +5
In this paper, we propose a third-order, i.e., white-noise-on-jerk, Gaussian Process (GP) Trajectory Representation (TR) framework for continuous-time (CT) motion estimation (ME) t…