Yangmin Xie — accepted AI-conference papers

2025

Safety-Guided RRT*: Hyperoctant Sampling-based Path Planning with SDF-based Robotic Representation

Yangmin Xie, Yuqiao Zhong, Hang Shi, Yusheng Yang

IROS 2025

Sampling-based path planning algorithms, such as Rapidly-exploring Random Tree (RRT), are widely used for motion planning in high degree-of-freedom robotic systems due to their efficiency in exploring high-dimensional spaces. However, traditional methods rely on binary collision detection, which onl

Cited by 0 Source ↗Scholar ↗

2019

An autonomous exploration algorithm using environment-robot interacted traversability analysis

Yujie Tang, Jun Cai, Meng Chen, Xuejiao Yan, Yangmin Xie

IROS 2019poster

Auto-exploration is a task for self-driving robots to explore unknown environments, which becomes much complicated when they move on irregular outdoor terrains. To improve the situation, a new frontier-based exploration algorithm is presented in this paper. It starts from original 3D cloud points of…

Cited by 27 Source ↗Scholar ↗