Considerable attention has been directed toward collision-free trajectory tracking in multi-robot systems, for which CBFs have been widely adopted as a safety-critical tool. However, existing CBF methods are constrained by their dependence on maximum braking estimation. Moreover, effective deadlock resolution is often...
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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