Jason Wai Hao Yee

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

Autonomous mobile robots increasingly rely on LiDAR–IMU odometry for navigation and mapping, yet horizontally mounted LiDARs (e.g., MID360) capture limited near-ground returns, reducing terrain awareness and degrading performance in feature-scarce environments. Prior solutions, such as static tilt, …