Chengqian Li

Yongqi Zhang, Jiajie Zhang, Chengqian Li et al.

The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision. Traditional navigation stacks, reliant on monolithic occupancy grid maps, face severe bottlenecks in storage efficiency, cross-floor reasoning, and long-horizon planning. To address these limitations, this paper presents osmAG-Nav, a complete, open-source ROS2 navigation stack built upon the hierarchical semantic topometric OpenStreetMap Area Graph (osmAG) map standard. The system follows a "System of Systems" architecture that decouples global topological reasoning from local metric execution. A Hierarchical osmAG planner replaces dense grid searches with an LCA-anchored pipeline on a passage-centric graph whose edge costs derive from local raster traversability rather than Euclidean distance, yielding low-millisecond planning on long campus-scale routes. A Rolling Window mechanism rasterizes a fixed-size local metric grid around the robot, keeping the local costmap memory footprint independent of the total mapped area, while a Segmented Execution strategy dispatches intermediate goals to standard ROS2 controllers for smooth handoffs. System robustness is reinforced by a structure-aware LiDAR localization framework that filters dynamic clutter against permanent architectural priors. Extensive experiments on a real-world multi-story indoor-outdoor campus (>11,025 m^2) show that, on the same-floor benchmark subset, osmAG-Nav delivers up to 7816x lower planning latency than a grid-based baseline on long routes while maintaining low path-length overhead and lifelong localization stability. A single-floor long-range robot mission further validates the integrated stack reliability. The full stack is released as modular ROS2 Lifecycle Nodes.

Yi Fan, Nan Li, Chengqian Li et al.

The tabu and restart are two fundamental strategies for local search. In this paper, we improve the local search algorithms for solving the Maximum Weight Clique (MWC) problem by introducing new tabu and restart strategies. Both the tabu and restart strategies proposed are based on the notion of a local search scenario, which involves not only a candidate solution but also the tabu status and unlocking relationship. Compared to the strategy of configuration checking, our tabu mechanism discourages forming a cycle of unlocking operations. Our new restart strategy is based on the re-occurrence of a local search scenario instead of that of a candidate solution. Experimental results show that the resulting MWC solver outperforms several state-of-the-art solvers on the DIMACS, BHOSLIB, and two benchmarks from practical applications.

Yi Fan, Chengqian Li, Zongjie Ma et al.

The Minimum Vertex Cover (MinVC) problem is a well-known NP-hard problem. Recently there has been great interest in solving this problem on real-world massive graphs. For such graphs, local search is a promising approach to finding optimal or near-optimal solutions. In this paper we propose a local search algorithm that exploits reduction rules and data structures to solve the MinVC problem in such graphs. Experimental results on a wide range of real-word massive graphs show that our algorithm finds better covers than state-of-the-art local search algorithms for MinVC. Also we present interesting results about the complexities of some well-known heuristics.