Yukun Xia — accepted AI-conference papers

2022

Autonomous Exploration Development Environment and the Planning Algorithms

Chao Cao, Hongbiao Zhu, Fan Yang, Yukun Xia, Howie Choset, Jean Oh +1

ICRA 2022poster

Autonomous Exploration Development Environment is an open-source repository released to facilitate development of high-level planning algorithms and integration of com-plete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation mo…

Cited by 97 Source ↗Scholar ↗

2021

DSVP: Dual-Stage Viewpoint Planner for Rapid Exploration by Dynamic Expansion

Hongbiao Zhu, Chao Cao, Yukun Xia, Sebastian Scherer, Ji Zhang, Weidong Wang

IROS 2021poster

We present a method for efficiently exploring highly convoluted environments. The method incorporates two planning stages - an exploration stage for extending the boundary of the map, and a relocation stage for explicitly transiting the robot to different sub-areas in the environment. The exploratio…

Cited by 85 Source ↗Scholar ↗