18 accepted papers
The dominant 3D Gaussian splatting (3DGS) acceleration methods fail to properly regulate the number of Gaussians during training, causing redundant computational time overhead. In this paper, we propose FastGS, a novel, simple, and general acceleration framework that fully considers the importance o
End-to-end deep learning methods for autonomous aerial vehicles like multirotors have been successfully applied to high-agility flight. However, existing end-to-end navigation methods for multirotors typically rely solely on the robot's current observation and state, neglecting explicit modeling of
Needle puncture is a fundamental technique in minimally invasive surgical procedures. However, the limited flexibility of flexible needles and their complex interactions with tissues make it challenging to avoid critical organs along the puncture path. Preoperative path planning, which generates fea
Learning from Demonstrations (LfD) methods are applied to transfer human skills to robots from expert demonstrations, enabling them to perform complex tasks. However, existing methods often struggle to handle such long-horizon human skills as cleaning or wiping stains on the surface, which involve m
Aerial robots have demonstrated significant potential in suspended cargo transportation, especially in industries such as logistics and food delivery. Due to the underactuated and nonlinear dynamics of the cable-suspended system, directly tracking a given trajectory with a multicopter without modify
3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in structural inconsistency. Additionally, they struggle with abrupt…
The wheeled bipedal robot (WBR) is a type of robot with strong athletic ability. It combines the advantages of wheeled and legged robots while possessing efficient motion performance and good terrain adaptability. However, research on the jumping motion of WBR is currently limited, mainly focusing o
In this letter, we present a novel method for the design of central pattern generator (CPG) model, and then utilize it to control a salamander-like robot. The CPG network is composed of modified Hopf oscillators with a new coupling scheme that independently controls the waveform regulation and phase
Hysteresis has posed significant challenges to the modeling and control of flexible endoscopic robots, which impedes the advancement of automated endoscopic operation. Despite numerous hysteresis modeling approaches aimed at improving accuracy, there are still several unresolved issues, such as inap…
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
In the context of tracking multiple targets on a novel mobile robot, it is essential to obtain the three-dimensional coordinates of specified targets based on tracking boxes. Most existing multi-target tracking algorithms neglect the inherent constraints of the novel mobile robot, such as insufficie…
Mobile robots face significant challenges in traditional fixed structure limitations, particularly in complex terrains and tasks. To solve the above-mentioned problem, self-reconfiguration wave-like crawling (SWC) robots are designed to perform complex tasks efficiently through physical connections
The robotic flexible endoscope is developed rapidly in the field of surgery robots due to its high flexibility and safety. However, some inherent features, e.g., high nonlinearity, material creep, complex dynamic hysteresis behaviors, and the unknown coupling effects between bending and twisting mot…
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…
In this paper, a novel navigation learning method in continuous action space among crowds based on relational graph is proposed which can be directly deployed on differential-drive mobile robots without any change. More specifically, in order to increase generalization ability in crowd sizes, Graph…
Due to the head swinging and the body winding, the self-localization and path following for snake-like robots based on vision are very challenging. In this paper, a novel pantilt compensation method and curve parameter compensation path following controller are proposed to solve these problems, whic…
Path following is a challenging task for legged robots. In this paper, we present a hierarchical control architecture for path following of a quadruped salamander-like robot, in which, the tracking problem is decomposed into two sub-tasks: high-level policy learning based on the framework of reinfor…
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