Shufang Zhang — accepted AI-conference papers

2025

HyperGraph ROS: An Open-Source Robot Operating System for Hybrid Parallel Computing based on Computational HyperGraph

Shufang Zhang, Jiazheng Wu, Jiacheng He, Kaiyi Wang, Shan An

IROS 2025

This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order to optimize communication, HyperGraph ROS dynamically selec

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2025

TSO-BoW: Accurate Long-Term Loop Closure Detection With Constant Query Time via Online Bag of Words and Trajectory Segmentation

Shufang Zhang, Jiazheng Wu, Kaiyi Wang, Sanpeng Deng

RA-L 2025

This letter presents TSO-BoW, a lightweight trajectory segmentation-based Bag-of-Words algorithm for loop closure detection, utilizing intermittent online training for collected segments. In the online training phase, segments of collected data form sub-trajectories that are used for online training

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