Sikang Liu
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View article: Multi-modal Integrated Prediction and Decision-making with Adaptive Interaction Modality Explorations
Multi-modal Integrated Prediction and Decision-making with Adaptive Interaction Modality Explorations Open
Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…
View article: Enhancing visual localization with only imperfect 3D models: A new perspective through neural rendering iterations
Enhancing visual localization with only imperfect 3D models: A new perspective through neural rendering iterations Open
Visual localization, a camera pose estimation problem, is a core component of indoor navigation applications. Visual localization methods based on image feature databases or sparse SfM point clouds can provide accurate results but suffer f…
View article: Multi-level localization trajectory alignment and repairing in complex environment
Multi-level localization trajectory alignment and repairing in complex environment Open
At present, multi-device collaborative navigation is popular in some projects. Most existing collaborative navigation algorithms depend on point clouds or 3D maps. However, ordinary users may encounter challenges in accessing raw data due …
View article: SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving
SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving Open
This paper presents a Simple and effIcient Motion Prediction baseLine (SIMPL) for autonomous vehicles. Unlike conventional agent-centric methods with high accuracy but repetitive computations and scene-centric methods with compromised accu…
View article: MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving
MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving Open
Generating safe and non-conservative behaviors in dense, dynamic environments remains challenging for automated vehicles due to the stochastic nature of traffic participants' behaviors and their implicit interaction with the ego vehicle. T…
View article: The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots Open
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flyin…
View article: Towards Search-based Motion Planning for Micro Aerial Vehicles
Towards Search-based Motion Planning for Micro Aerial Vehicles Open
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics …
View article: The Open Vision Computer: An Integrated Sensing and Compute System for\n Mobile Robots
The Open Vision Computer: An Integrated Sensing and Compute System for\n Mobile Robots Open
In this paper we describe the Open Vision Computer (OVC) which was designed\nto support high speed, vision guided autonomous drone flight. In particular our\naim was to develop a system that would be suitable for relatively small-scale\nfl…
View article: Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2
Trajectory Optimization On Manifolds with Applications to SO(3) and R3XS2 Open
Manifolds are used in almost all robotics applications even if they are not explicitly modeled.We propose a differential geometric approach for optimizing trajectories on a Riemannian manifold with obstacles.The optimization problem depend…
View article: Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight Open
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small …
View article: Human Motion Capture Using a Drone
Human Motion Capture Using a Drone Open
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs …
View article: Motion Planning For Micro Aerial Vehicles
Motion Planning For Micro Aerial Vehicles Open
A Micro Aerial Vehicle (MAV) is capable of agile motion in 3D making it an ideal platform for developments of planning and control algorithms. For fully autonomous MAV systems, it is essential to plan motions that are both dynamically feas…
View article: Fast, autonomous flight in GPS‐denied and cluttered environments
Fast, autonomous flight in GPS‐denied and cluttered environments Open
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. Thi…
View article: Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight Open
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational efficiency and robustness of the underlying algorithms for appli…
View article: Search-based Motion Planning for Aggressive Flight in SE(3)
Search-based Motion Planning for Aggressive Flight in SE(3) Open
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor maneuverabili…
View article: Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control
Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control Open
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the …