惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

J
Java Code Geeks
月光博客
月光博客
aimingoo的专栏
aimingoo的专栏
Google DeepMind News
Google DeepMind News
Recent Announcements
Recent Announcements
MyScale Blog
MyScale Blog
钛媒体:引领未来商业与生活新知
钛媒体:引领未来商业与生活新知
S
SegmentFault 最新的问题
Hugging Face - Blog
Hugging Face - Blog
Martin Fowler
Martin Fowler
WordPress大学
WordPress大学
F
Fortinet All Blogs
小众软件
小众软件
D
Docker
U
Unit 42
博客园 - 聂微东
freeCodeCamp Programming Tutorials: Python, JavaScript, Git & More
爱范儿
爱范儿
OSCHINA 社区最新新闻
OSCHINA 社区最新新闻
IT之家
IT之家
云风的 BLOG
云风的 BLOG
博客园 - 司徒正美
有赞技术团队
有赞技术团队
腾讯CDC

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
Perception-aware Planning for Quadrotor Flight in Unknown...
Chenxin Yu, Zihong Lu, Jie Mei, Boyu Zhou · 2025-03-19 · via cs.RO updates on arXiv.org

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face significant limitations in previously unknown environments with sparse localization features, which greatly limits their practical application. In this paper, we present a perception-aware planning method for quadrotor flight in unknown and feature-limited environments that properly allocates perception resources among environmental information during navigation. We introduce a viewpoint transition graph that allows for the adaptive selection of local target viewpoints, which guide the quadrotor to efficiently navigate to the goal while maintaining sufficient localizability and without being trapped in feature-limited regions. During the local planning, a novel yaw trajectory generation method that simultaneously considers exploration capability and localizability is presented. It constructs a localizable corridor via feature co-visibility evaluation to ensure localization robustness in a computationally efficient way. Through validations conducted in both simulation and real-world experiments, we demonstrate the feasibility and real-time performance of the proposed method. The source code will be released to benefit the community.