9 accepted papers
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing considerable challenges for trajectory planning due to their high-dimensional state space and nonholonomic constraints. This p…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. The nonholonomic dynamics and possible lateral slip of these robots lead to difficulty in getting feasible and high-quality traje…
Existing robotic trajectory planning frameworks typically approximate the robot’s geometry and environmental constraints. While this improves computational efficiency, it sacrifices the solution space and frequently encounters failure in confined environments. However, attaining a precise geometric
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have rapidly developed, the challenge remains to generate efficient,
Recent advancements in robot learning have used imitation learning with large models and extensive demonstrations to develop effective policies. However, these models are often limited by the quantity quality, and diversity of demonstrations. This paper explores improving offline-trained imitation l…
Terrain analysis is critical for the practical application of ground mobile robots in real-world tasks, especially in outdoor unstructured environments. In this paper, we propose a novel spatial-temporal traversability assessment method, which aims to enable autonomous robots to effectively navigate
In the current user-server interaction paradigm of prompted generation with large language models (LLMs) on cloud, the server fully controls the generation process, which leaves zero options for users who want to keep the generated text private to themselves. For privacy-aware text generation on clo…
Tracked robots with reconfigurable mechanisms exhibit great maneuverability due to their adaptability to complex ground conditions. Reconfigurable tracked robots with geometry-changing tracks show further obstacle-crossing capabilities with compact dimensions. However, existing systems face deployme…
Service robots have attracted extensive attention due to specially designed functions, such as mobile manipulators or robots with extra structures. For robots that have changing shapes, autonomous navigation in the real world presents new challenges. In this paper, we propose a trajectory optimizati…