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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Planar-Sector LOS Guidance for Interception of Agile Targ...
Linkai Liu, Kun Yang, Han Zou, Chen Min, Shuli Lv, Shuai Wang, Q · 2026-06-09 · via cs.RO updates on arXiv.org

Autonomous visual interception of agile aerial targets is challenging due to unpredictable target motion, limited sensing, and the strong coupling between target visibility and interceptor maneuverability. Most existing strapdown-camera interception methods preserve visibility using conic line-of-sight (LOS) constraints that keep the target near the image center. While safe, such symmetric constraints unnecessarily restrict maneuverability and can significantly reduce the usable thrust for pursuit. Motivated by the observation that aggressive FPV pilots do not maintain equal visibility margins in all image directions, this paper proposes a Planar-Sector Line-of-Sight (PS-LOS) guidance framework for autonomous interception using a lifting-wing quadcopter equipped with only a strapdown monocular camera. PS-LOS tightly constrains lateral image error while relaxing longitudinal image error within a safe field-of-view margin, preserving visibility while releasing maneuverability for acceleration-intensive pursuit. Under the lifting-wing quadcopter model, PS-LOS provides nearly 50% more available thrust near the LOS direction than conventional conic LOS constraints. To realize LOS-only interception without direct depth measurements, a delay-compensated state-estimation framework and a nonlinear guidance-and-control architecture are developed for lifting-wing quadcopters. Extensive outdoor flight experiments demonstrate autonomous interception of agile targets exhibiting large-amplitude, high-frequency, and unpredictable motion under real wind disturbances. The proposed system achieves successful interceptions at ranges up to 138 m while maintaining continuous visual tracking throughout the engagement. The results validate PS-LOS as a visibility-preserving, maneuverability-aware guidance framework for long-range visual interception of agile aerial targets.