6 accepted papers
Recently, vision-language models have demonstrated increasing influence in morally sensitive domains such as autonomous driving and medical analysis, owing to their powerful multimodal reasoning capabilities. As these models are deployed in high-stakes real-world applications, it is of paramount imp…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot’s physical geometry severely suffer from the intractable runtime. To achieve both computational efficiency and Continuous Collision
Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on realtime localization using filter-based estimation or sliding window optimization, which may lack accuracy and global consistency. In th
Semantic scene understanding is a fundamental capability for autonomous vehicles. Under challenging lighting conditions, such as nighttime and on-coming headlights, the semantic scene understanding performance using only RGB images are usually degraded. Thermal images can provide complementary infor
This paper presents a novel uncrewed aerial vehicle (UAV) design named HALO, which stands for “harmless aerial limber robot”. HALO uses a swashplateless mechanism to generate a moment for pitch and roll control without requiring additional actuators such as servo, reducing the number of components n…
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swash-platele…