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Author

Kan-Zhong Yao

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Preprint Sep 2026

AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback

Intermittent visual loss disrupts target-relative feedback during underwater orbiting, making it difficult to maintain coordinated motion and reacquire a moving target. We present AquaOrbit, a reinforcement-learning controller with a recovery module for underwater target orbiting under interrupted visual feedback. Duri...

Kan-Zhong Yao, Jin-Yi Leng, Hao Zhang et al. · 0 citations
Preprint Sep 2026

Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar

This work proposes a cascaded feature reconstruction pipeline combining fast Fourier transform (FFT)-based denoising, fast multiscale constant false alarm rate (MCFAR) detection, and gradient-adaptive boundary connection to extract geometric features from degraded sonar images with low latency.

Si-Yuan Du, Kan-Zhong Yao, You-Dong Wang et al. · 0 citations

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