Fenghe Guo

RISMO: Riemannian Information-Geometric Swarm Motion Orchestration for Heterogeneous UAV–UGV Cooperative Exploration in Unknown Environments

Abstract The orchestration of heterogeneous swarm systems, such as Unmanned Aerial Vehicle (UAV) and Unmanned Ground Vehicle (UGV) teams, in unknown, GPS-denied environments requires coordination among active perception, collision avoidance, and topological flexibility. Tradition...

OCE: an optimization convergence metric for LiDAR SLAM degeneracy detection

Abstract 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 degen...