22 accepted papers
The Multi-Agent Path Finding (MAPF) problem seeks to find conflict-free paths for multiple agents. However, most existing MAPF methods simplify agents to points or uniform circles, a model that fails when agents have diverse geometries or carry oversized loads. This oversimplification can lead to un…
环境中的多机器人运动规划对安全高效协调构成挑战，但缺乏公平统一的测试平台来评估多样化算法。我们提出了DMRP-Bench，一个综合框架，旨在弥补这一空白。它采用分层架构，整合了全球和本地规划者，能够全面分析其在宏观系统层面结果和细粒度机器人间交互中的组合。高保真室内场景（如图书馆、商场、办公室）模拟多样的空间布局和行人动态，均在 NVIDIA Isaac Sim 环境中构建。对十六种规划器组合的广泛实验不仅揭示了轨迹效率与安全性之间的关键权衡，还促进了对机器人间协调的更深入评估。通过将路径执行的忠实度与交互结果关联，这些实验能够定量诊断局部行
Recent advancements in 3D Gaussian Splatting (3DGS) have significantly improved the mapping quality and computational efficiency of visual Simultaneous Localization and Mapping (SLAM). We propose DOGL-SLAM, a novel framework that integrates 3DGS into its core pipeline, enabling accurate camera pose
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to overcome the challenge that arises as the map size grows with the…
Unmanned aerial vehicles (UAVs) have been widely employed to achieve autonomous exploration of 3D unknown environments. However, most existing algorithms suffer from low exploration efficiency caused by inaccurate motion time cost evaluation, which typically leads to the motion inconsistency during …
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localization accuracy of online LiDAR odometry. VoxelMap and its variants typically fit and check planes using all points in a voxe
Mobile robot motion planning heavily relies on grid-based occupancy maps, while existing works require high memory usage and expensive updating overhead. In this work, we propose a memory-lite grid-block data structure and an efficient map updating algorithm for LiDAR-based online exploration-orient…
This letter proposes a novel scan-to-neural model matching, tightly-coupled LiDAR-inertial Simultaneous Localization and Mapping (SLAM) system, which can achieve more accurate state estimation and incrementally reconstruct the dense map. Different from the existing methods, the key insight of the pr
The tremendous potential has been demonstrated by large language models (LLMs) in intelligent decision-making problems, with unprecedented capabilities shown across diverse applications ranging from gaming AI systems to complex strategic planning frameworks. However, the StarCraft II platform, which…
In industrial and clinical applications, CT scanning is expected to be as fast as possible to improve the scanning efficiency in industrial CT or to reduce the radiation dose to patients in clinical CT. However, the kinematic constraints of the dual manipulators pose limits on shortening the scannin
Accurate and reliable online real-time localization and mapping are crucial for autonomous navigation of robot. Dynamic objects within the perception field can affect the accuracy of registration and localization, and also introduce ghost trail artifacts in the map, hindering robot planning and deci
Task-oriented grasping (TOG) involves grasping specific parts of an object based on a task instruction. Existing methods generally integrate semantic analysis with grasp detection, resulting in low efficiency and poor generalization when dealing with new tasks and hardware. To address these problems
Visual servoing (VS) is a widely used technique in industries where there are hundreds of robots, but it requires accurate camera calibration including camera intrinsic and extrinsic parameters. However, it is labour-intensive to calibrate robots one-by-one in practical use. In this paper, we propos…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication volume. Moreover, exploration-oriented task allocation is far
In this letter, we propose a tightly coupled LiDAR-inertial-visual (LIV) state estimator termed LIVER, which achieves robust and accurate localization and mapping in underground environments. LIVER starts with an effective strategy for LIV synchronization. A robust initialization process that integr
Ground robot autonomous exploration for uneven terrains is still challenging since the rugged terrain structures not only degrade the exploration performance but also threaten the navigation safety of the robot. In this letter, a novel exploration planner is proposed for safe and fast exploration in
This paper proposes a mapping uncertainty-aware point-wise Lidar Inertial Odometry (LIO), which synthesizes the point-wise point-to-plane match and map refreshment into a probabilistic model. As a result, it can address the issue of mismatching during point registration and remove in-frame motion di…
This letter presents MA-NBCP, a novel hierarchical framework targeting autonomous exploration and inspection for high-DoF manipulators. MA-NBCP iteratively selects the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">manipulability-augmented</i> <ital
In this letter, we propose TC<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula>LI-SLAM, a novel and tightly-coupled camera-LiDAR-inertial SLAM system with a separated front end and a
The perception-aware motion planning method based on the localization uncertainty has the potential to improve the localization accuracy for robot navigation. How-ever, most of the existing perception-aware methods pre-build a global feature map and can not generate the perception- aware trajectory…
Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. T…
This letter summarizes some known properties and also presents several new properties of the numerical integration (NI) method for time-optimal trajectory planning along a specified path. The contribution is that rigorous mathematical proofs of these properties are presented, most of which have not