7 accepted papers
Global localization is an essential ingredient for autonomous mobile robots. However, existing global localization systems primarily rely on Global Navigation Satellite System (GNSS), infrastructures, or visual/LiDAR-based place recognition, which suffer from enclosed/semi-enclosed GNSS-denied envir
Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulty in large indoor scenes and long sequences. Existing multi-agent SLAM frameworks cannot meet the…
In recent years, infrastructure-based localization methods have achieved significant progress thanks to their reliable and drift-free localization capability. However, the preinstalled infrastructures suffer from inflexibilities and high maintenance costs. This poses an interesting problem of how to…
Multi-session mapping serves as the pre-requisite for autonomous robots to fulfill various long-term tasks (e.g., map updating, navigation, collaboration). However, it is challenging to implement multi-session mapping in enclosed or partially enclosed ambiguous environments (e.g., long corridors, in…
Traditional teleoperation technologies based on video streaming are facing several challenges in practical applications, including limited bandwidth, constrained spatial awareness, and sensitivity to illumination. Existing studies have not adequately addressed these issues. This paper presents a nov
In this work, we propose a learning-based one-stage planner for trajectory generation of quadrotor in obstacle-cluttered environment without relying on explicit map. We integrate perception and mapping, front-end path searching, and back-end optimization into a single network. We frame the motion pl
In this work, we propose a reaction-based local planner for autonomous collision avoidance of quadrotor in obstacle-cluttered environment without relying on an explicit map. Our approach searches for feasible trajectory using a set of motion primitives in state lattice and represents the optimal one