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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Run-Jie Shen

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3 papers indexed here

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Open access Oct 2026

OCE: an optimization convergence metric for LiDAR SLAM degeneracy detection

LiDAR-based Simultaneous Localization and Mapping (SLAM) systems suffer from environment-induced degeneracy in geometrically self-similar scenes such as tunnels and cylindrical structures, where the point cloud registration problem becomes ill-conditioned. Existing degeneracy detection methods predominantly rely on eig...

Jun-Rui Zhang, Meng-Fan Zhu, Chen-Yang Sun et al. · 0 citations
Open access Sep 2026

TOVEX: Gain-Preserving Branch-Aware Topological Voxel-Sphere Exploration for Unmanned Platforms

Recent autonomous exploration systems for unmanned platforms have improved motion efficiency, trajectory smoothness, and replanning continuity, but thorough coverage remains difficult in confined environments with short branches and partially resolved connectors. We present TOVEX, a completion-oriented framework that c...

Feng-He Guo, Xing-Bao Zhu, Chen-Yang Sun et al. · 0 citations
Preprint Sep 2026

VIRGA: Virtual-Agent-Intermediated Riemannian Geometry for Active-Sensing Air-Ground Coordination

Air-ground autonomy becomes harder when the unmanned aerial vehicle (UAV) must remain observable by a gimbal light detection and ranging (LiDAR) mounted on the unmanned ground vehicle (UGV). The platforms must avoid dynamic obstacles while coordinating heterogeneous motion, limited sensing, and changing task initiative...

Feng-He Guo, Run-Jie Shen, Chen-Yang Sun et al. · 0 citations

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