Zexuan Fan — accepted AI-conference papers

2026

Semantic and Terrain-Aware Trajectory Optimization for Uniform Coverage in Obstacle-Laden Environments

Zexuan Fan, Hengye Yang, Sunchun Zhou, Junyi Cai, Tao Sun, Chang Liu

ICRA 2026poster

Achieving efficient and uniform coverage in obstacle-laden unknown environments is essential for au- tonomous robots in cleaning, inspection and agricultural op- erations. Unlike most existing approaches that prioritize path length and time optimality, we propose the SHIFT planner framework, which i…

Cited by 0 Scholar ↗

2025

Adaptive Wall-Following Control for Unmanned Ground Vehicles Using Spiking Neural Networks

Hengye Yang, Yanxiao Chen, Zexuan Fan, Lin Shao, Tao Sun

IROS 2025

Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control approach based on spiking neural networks for wall fitting a

Cited by 0 Source ↗Scholar ↗