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Yihe Chen

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IROS Conference 2025 Conference Paper

ESCoT: An Enhanced Step-based Coordinate Trajectory Planning Method for Multiple Car-like Robots

Junkai Jiang
Yihe Chen
Yibin Yang
Ruochen Li 0005
Shaobing Xu
Jianqiang Wang 0003

Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method for multiple car-like robots. ESCoT incorporates two key strategies: collaborative planning for local robot groups and replanning for duplicate configurations. These strategies effectively enhance the performance of step-based MVTP methods. Through extensive experiments, we show that ESCoT 1) in sparse scenarios, significantly improves solution quality compared to baseline step-based method, achieving up to 70% improvement in typical conflict scenarios and 34% in randomly generated scenarios, while maintaining high solving efficiency; and 2) in dense scenarios, outperforms all baseline methods, maintains a success rate of over 50% even in the most challenging configurations. The results demonstrate that ESCoT effectively solves MVTP, further extending the capabilities of step-based methods. Finally, practical robot tests validate the algorithm’s applicability in real-world scenarios.

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AAAI Conference 2019 Conference Paper

Connecting Language to Images: A Progressive Attention-Guided Network for Simultaneous Image Captioning and Language Grounding

Lingyun Song
Jun Liu
Buyue Qian
Yihe Chen

Image captioning and visual language grounding are two important tasks for image understanding, but are seldom considered together. In this paper, we propose a Progressive Attention-Guided Network (PAGNet), which simultaneously generates image captions and predicts bounding boxes for caption words. PAGNet mainly has two distinctive properties: i) It can progressively refine the predictive results of image captioning, by updating the attention map with the predicted bounding boxes. ii) It learns bounding boxes of the words using a weakly supervised strategy, which combines the frameworks of Multiple Instance Learning (MIL) and Markov Decision Process (MDP). By using the attention map generated in the captioning process, PAGNet significantly reduces the search space of the MDP. We conduct experiments on benchmark datasets to demonstrate the effectiveness of PAGNet and results show that PAGNet achieves the best performance.

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