Xingjian Xue

2 accepted papers

2025

Sampling-Based Path Planning for Tethered Robot Chains

Zeyuan Jin, Xingjian Xue, Josh Stoffel, Sze Zheng Yong

IROS 2025

Motivated by human-chains in rescue missions, this paper proposes a scalable path planning algorithm for multiple mobile robots that are tethered to one another in a chain topology with finite-length tethers. Specifically, our approach trades off optimality for scalability and computational tractabi

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2025

WiTAH A*: Winding-Constrained Anytime Heuristic Search for a Pair of Tethered Robots

Xingjian Xue, Sze Zheng Yong

IROS 2025

In this paper, we propose a variant of the anytime hybrid A* algorithm that generates a fast but suboptimal solution before progressively optimizing the paths to find the shortest winding-constrained paths for a pair of tethered robots under curvature constraints. Specifically, our proposed algorith

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