Selected work

Representative Papers

Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

May 24, 2026

This study addresses the challenge of adapting existing path-following methods to the complex dynamics of multi-link biomimetic underwater robots, which has been hindered by insufficient simulation validation. Focusing on a biomimetic dolphin robot, this work proposes the first line-of-sight (LOS) guidance-based path-following framework specifically designed for multi-link architectures. By integrating an accurate dynamic model with a high-fidelity underwater simulation environment, the approach enables efficient tuning of control parameters and thorough validation of the control strategy. The proposed method not only fills a critical gap in dedicated path-following control for multi-link biomimetic underwater vehicles but also demonstrates its effectiveness and feasibility through comprehensive simulations in a realistic virtual setting.

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Safe mobility support system using crowd mapping and avoidance route planning using VLM

Jun 01, 2025International Conference on Real-time Computing and Robotics

This work addresses the challenge of safe and efficient navigation for autonomous mobile robots in dynamically crowded environments. The authors propose a novel approach that integrates Vision-Language Models (VLMs) with Gaussian Process Regression (GPR) to jointly perceive static obstacles and dynamic crowds. For the first time, a VLM is leveraged to recognize and abstract semantic concepts of crowd density, which are then fused with GPR to construct a probabilistic dynamic crowd density map. This map enables the robot to plan collision-free paths that account for both stationary obstacles and moving pedestrians. Extensive experiments conducted in real-world campus scenarios demonstrate that the proposed method significantly enhances navigation safety and environmental adaptability compared to existing approaches.

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Recent publications

Latest Papers

Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

May 24, 2026

This study addresses the challenge of adapting existing path-following methods to the complex dynamics of multi-link biomimetic underwater robots, which has been hindered by insufficient simulation validation. Focusing on a biomimetic dolphin robot, this work proposes the first line-of-sight (LOS) guidance-based path-following framework specifically designed for multi-link architectures. By integrating an accurate dynamic model with a high-fidelity underwater simulation environment, the approach enables efficient tuning of control parameters and thorough validation of the control strategy. The proposed method not only fills a critical gap in dedicated path-following control for multi-link biomimetic underwater vehicles but also demonstrates its effectiveness and feasibility through comprehensive simulations in a realistic virtual setting.

0 citationsRead paper

Safe mobility support system using crowd mapping and avoidance route planning using VLM

Jun 01, 2025International Conference on Real-time Computing and Robotics

This work addresses the challenge of safe and efficient navigation for autonomous mobile robots in dynamically crowded environments. The authors propose a novel approach that integrates Vision-Language Models (VLMs) with Gaussian Process Regression (GPR) to jointly perceive static obstacles and dynamic crowds. For the first time, a VLM is leveraged to recognize and abstract semantic concepts of crowd density, which are then fused with GPR to construct a probabilistic dynamic crowd density map. This map enables the robot to plan collision-free paths that account for both stationary obstacles and moving pedestrians. Extensive experiments conducted in real-world campus scenarios demonstrate that the proposed method significantly enhances navigation safety and environmental adaptability compared to existing approaches.

0 citationsRead paper