5 accepted papers
Recent robotic task planning frameworks have integrated large multimodal models (LMMs) such as GPT-4o. To address grounding issues of such models, it has been suggested to split the pipeline into perceptional state grounding and subsequent state-based planning. As we show in this work, the state gro
This letter presents a sparse hierarchical LiDAR bundle adjustment method for online multi-robot collaborative simultaneous localization and mapping (C-SLAM). The motivation behind this work is that the pose graph cannot directly reflect map inconsistencies. As a result, the map divergence across mu
This paper introduces an optimisation-based trajectory deformation and tracking algorithm for tethered differential-driven mobile robots. The motivation of this work is to generate self-entanglement-free (SEF) commands for a tethered differential-driven robot to track a path. Whilst existing path pl…
A novel mechanism to derive self-entanglement-free path for tethered differential-driven robots is proposed in this work. The problem is tailored to the applications of tethered robots without an omni-directional tether re-tractor which is often encountered when an omni-directional tether retracting…
Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots. Traditional optimization-based methods are time-consuming and rel