It is demonstrated that strict collision-free guarantees are achieved for arbitrarily large robot teams without excessive conservatism and the integrated strategy yields the lowest tracking deviation and the shortest total intervention time among all tested deadlock-handling approaches.
Xiao-Xiao Li, Zhi-Qiang Sun, Hong-Peng Wang et al.· Transactions of the Institut...· 0 citations
In photoacoustic tomography (PAT) reconstruction, imaging systems with limited-view detection geometries capture acoustic signals over restricted angular ranges, which results in reconstruction artifacts and degraded image quality. Model-based iterative methods can effectively compensate for limited-view artifacts, but...
Bi-Ru Zhang, Jian-Kun Wang, M. Q. Meng· Photoacoustics· 0 citations
Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore embodiment-specific mobility constraints. A path that is semantically plausible for one robot may be physically infeasible for another. We propose CrossTracer, a hierarchical framework for cross-embodiment nav...
Yao Wang, Siyuan Wang, Zhi-Qiang Sun et al.· 1 citation
Learning embodied urban navigation policies from real-world data is constrained by the cost of task-specific data collection and the limited coverage of rare yet safety-critical scenarios. To address these challenges, we present a scalable framework for learning point-goal urban navigation from web-scale in-the-wild eg...
Bingyi Xia, Han Bao, Zhe-Wei Chen et al.· 0 citations
This paper proposes LSTP-Nav, a lightweight, decentralized navigation framework built on LSTP-Net that maps stacked 2D LiDAR observations, goal information, and velocity feedback directly to action and introduces an HS reward to provide smooth, heading-aware safety feedback, and develops PhysReplay-SimLab to improve tr...
Xingrong Diao, Zhi-Qiang Sun, Jian-Wei Peng et al.· IEEE Transactions on Automat...· 0 citations
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