XLeRobot++

XLeRobot++ is a compact mobile manipulation platform with a holonomic base, onboard computing powered by an NVIDIA Jetson Nano, and RGB-D perception (Intel RealSense D455). Each 7-DoF arm is mounted on a 360° rotating base joint, allowing the entire arm to reorient freely and grasp objects from arbitrary directions around the robot. 

SLAM-DS

Detailed report click here.

https://github.com/Qifei-C/slam-ds.git

Dynamic robot navigation through local free-space deformation and time-varying navigation manifolds. Instead of explicitly tracking every moving obstacle, SLAM-DS models the environment as a deforming clearance field and converts it directly into safe velocity commands.

Indoor environments such as offices, homes, and hospitals contain moving people, doors, carts, and narrow passages. Classical point-attractor navigation can oscillate when local geometry changes, while object-centric prediction becomes brittle under occlusion and expensive for embedded hardware.

Why SLAM-DS?

Field-centric navigation

SLAM-DS replaces the fixed point attractor with a time-varying local manifold. The robot follows a deforming corridor of safe free space, rather than chasing a static target while reacting to obstacles afterward. 

The system builds a map-free local stack from the current clearance field, estimates field deformation over the overlapping sensed region, reconstructs an arrival-conditioned planning field, and extracts a time-varying manifold for control.The manifold is designed to maintain obstacle clearance, preserve branch choices, reduce unstable switching, and terminate safely when no forward path remains.