Tomi Westerlund

2 papers indexed

arxivcs.RO2026-07-24

Offline Vision-Language Navigation with Geometric Goal Localization for Outdoor Environments

Ali Salmasi, Xianjia Yu, Tomi Westerlund

Foundation-model-based vision-language navigation (VLN) has advanced autonomous robot navigation by enabling robots to interpret natural-language instructions, identify semantic goals, and follow user-specified behavioral rules. However, existing VLN systems rely heavily on cloud…

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arxiveess.SY2026-07-14

Intelligent Control for Path-Following of an Unmanned Mass-Centric Surface Vehicle

Gabriel da Silva Lima, Tomi Westerlund, Wallace Moreira Bessa

Addressing the control and maneuverability of surface vehicles with dynamically changing mass distributions is still an open problem. To solve the problem, we propose an intelligent controller for the path-following problem of a surface vehicle, which is controlled through mass d…

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