6 accepted papers
Benefiting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable flexibility even within confined spaces. However, its motion planning and control pose significant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controlla…
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of loop detection and correction. Based on the 6-DO
This letter presents the first trajectory planning method for hybrid robot to perform powerline inspection involving obstacle navigation and landing. We develop a geometric model that incorporates constraints for landing the hybrid robot on a powerline, obstacle avoidance, and objectives that maximi
Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant man…
In scenarios of the overhead power line system, manual methods are inefficient and unsafe. Meanwhile, the majority of cantilevered robots have poor efficiency when crossing obstacles. This letter proposes a novel power line inspection and maintenance robot to solve these problems. The robot employs
In this letter, we propose RI-LIO, a new reflectivity image assisted tightly-coupled LiDAR-inertial odometry (LIO) framework that introduces additional reflectivity texture information to efficiently reduce the drift of geometric-only methods. To achieve this, we construct an iterated extended Kalma