7 accepted papers
Achieving robust locomotion on complex terrains remains a challenge due to high-dimensional control and environmental uncertainties. This paper introduces a teacher-prior framework based on the teacher-student paradigm, integrating imitation and auxiliary task learning to improve learning efficiency
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of loop detection and correction. Based on the 6-DO
This letter presents the first trajectory planning method for hybrid robot to perform powerline inspection involving obstacle navigation and landing. We develop a geometric model that incorporates constraints for landing the hybrid robot on a powerline, obstacle avoidance, and objectives that maximi
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant man…
In this letter, we propose RI-LIO, a new reflectivity image assisted tightly-coupled LiDAR-inertial odometry (LIO) framework that introduces additional reflectivity texture information to efficiently reduce the drift of geometric-only methods. To achieve this, we construct an iterated extended Kalma
Conventional face anti-spoofing methods might be poorly generalized to unseen data distributions. Thus, we improve the generalization of spoof detection from the multi-domain feature disentanglement. Specially, a two-branch convolutional network is proposed to separate spoof-specific features and do…
In this paper, we design and build a power line inspection robot capable of hybrid operation modes. Specifically, the developed robot is able to land on the overhead ground wire (OGW) and to move as the climbing robot. When to negotiate obstacles, it can vertically take off the wire and fly over the…