12 accepted papers
In recent years, there has been a significant amount of research on algorithms and control methods for distributed collaborative robots. However, the emergence of collective behavior in a swarm is still difficult to predict and control. Nevertheless, human interaction with the swarm helps render the
Place recognition is an important technique for autonomous mobile robotic applications. While single-modal sensor-based approaches have shown satisfactory performance, cross-modal place recognition remains underexplored due to the challenge of bridging the cross-modal heterogeneity gap. In this work
The mainstream approach for correcting distortions in wide-angle images typically involves a cascading process of rectification followed by rectangling. These tasks address distorted image content and irregular boundaries separately, using two distinct pipelines. However, this independent optimizati…
As lunar exploration missions grow increasingly complex, ensuring safe and autonomous rover-based surface exploration has become one of the key challenges in lunar exploration tasks. In this work, we have developed a lunar surface simulation system called the Lunar Exploration Simulator System (LESS
Vision-based ego-velocity estimation is a fundamental problem in robot state estimation. However, the constraints of frame-based cameras, including motion blur and insufficient frame rates in dynamic settings, readily lead to the failure of conventional velocity estimation techniques. Mammals exhibi
LiDAR-based place recognition (LPR) is a key component for autonomous driving, and its resilience to environmental corruption is critical for safety in high-stakes applications. While state-of-the-art (SOTA) LPR methods perform well in clean weather, they still struggle with weather-induced corrupti
Generative models are gaining momentum in both academic and industrial applications driven by the availability of large-scale datasets, especially in tasks involving Image-to-Image Translation. Meanwhile, poor human perception of nighttime environment has led to a demand for translation from night-v…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body frame using alignment of trajectories, our approach leverages
The reliance on accurate camera poses is a significant barrier to the widespread deployment of Neural Radiance Fields (NeRF) models for 3D reconstruction and SLAM tasks. The existing method introduces monocular depth priors to jointly optimize the camera poses and NeRF, which fails to fully exploit…
Offline reinforcement learning (RL) aims to learn policy from the passively collected offline dataset. Applying existing RL methods on the static dataset straightforwardly will raise distribution shift, causing these unconstrained RL methods to fail. To cope with the distribution shift problem, a co…
With the rapid development of multi-robot systems (MRSs), they can be widely used to perform various tasks in typical environments. However, the inevitable disadvantages of onboard sensor errors, communication delays, and underspecified environmental factors seriously affect the operation of MRSs. T
Currently, distributed multi-robot systems (MRSs) can meet the requirements of various tasks in complex environments. Nevertheless, the inevitable disadvantages of robot sensor errors, communication delays, and obstructive environmental factors hinder the operation of MRSs. Therefore, a shared contr