PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots

Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo +3

Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, lim…