Planning safe and efficient flight trajectories for autonomous aerial robots in complex and unknown environments remains a challenging problem. Achieving high-quality local replanning is particularly difficult due to the inherent trade-off between computational efficiency and trajectory optimality, as well as the susce...
In this paper, we propose a novel search-based hierarchical whole-body motion planning framework that can divide the planning process of a quadrotor into two parts: position-only planning and attitude-aware planning. A safe flight corridor (SFC) containing spatial scale information is designed to partition collision-fr...
Pei-Yu Cui, Hao Zhang, Zhixu Du et al.· Intelligence & Robotics· 0 citations
A hierarchical benchmark that organizes VLM-based autonomous driving into four ranks, spanning perceptual grounding, contextual memory, mental reasoning, and closed-loop execution is presented, which serves as a unified framework for evaluating and improving VLM-based autonomous driving systems.
Cheng-Kai Xu, Jia-Qi Liu, Yi-Cheng Guo et al.· 0 citations
Experimental results show that ROSE achieves competitive detection accuracy while providing improved robustness and cross-modal consistency across adverse weather scenarios, demonstrating strong generalization potential for roadside multi-modal perception under challenging environmental conditions.
Guo-Yu Zhang, Peng Hang, Xin Xia et al.· Communications in Transporta...· 0 citations
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