Tianchen Liu — accepted AI-conference papers

2025

Cascade IPG Observer for Underwater Robot State Estimation

Kaustubh Joshi, Tianchen Liu, Nikhil Chopra

ICRA 2025

This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The proposed observer comprises two nonlinear observers based on a rec

Cited by 2 Source ↗Scholar ↗

2024

UIVNAV: Underwater Information-driven Vision-based Navigation via Imitation Learning

Xiaomin Lin, Nare Karapetyan, Kaustubh Joshi, Tianchen Liu, Nikhil Chopra, Miao Yu +2

ICRA 2024poster

Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient, accurate localization system. We introduce UIVNAV, a novel end-to-end underwater navigation solution designed to navigate robots over Objects of Interest (…

Cited by 13 Source ↗Scholar ↗