Publications (38)
Bearing-based Relative Localization for Robotic Swarm with Partially Mutual Observations
Yingjian Wang, Xiangyong Wen, Yanjun Cao +2
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solver…
Microsaccade-inspired Event Camera for Robotics
Botao He, Ze Wang, Yuan Zhou +11
Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. Th…
Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning
Shuang Geng, Qianhao Wang, Lei Xie +3
For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either op…
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
Jacopo Panerati, Benjamin Ramtoula, David St-Onge +5
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires tea…
Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments
Long Xu, Kaixin Chai, Boyuan An +11
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers…
Mr. Virgil: Learning Multi-robot Visual-range Relative Localization
Si Wang, Zhehan Li, Jiadong Lu +3
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between rob…
Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios
Yuman Gao, Jialin Ji, Qianhao Wang +7
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground…
Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments
Lun Quan, Longji Yin, Tingrui Zhang +7
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formati…
Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
Yingjian Wang, Xiangyong Wen, Longji Yin +3
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between mea…
TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design
Xiangyu Li, Tiancheng Lai, Mingwei Lai +6
Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primaril…
Autonomous Exploration with Terrestrial-Aerial Bimodal Vehicles
Yuman Gao, Ruibin Zhang, Tiancheng Lai +3
Terrestrial-aerial bimodal vehicles, which integrate the high mobility of aerial robots with the long endurance of ground robots, offer significant potential for autonomous explora…
FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation
Mengke Zhang, Sitong Li, Tiancheng Lai +6
Safe and efficient trajectory planning in unknown, cluttered 3D environments constitutes a critical bottleneck for deploying Unmanned Aerial Vehicles (UAVs) in real-world applicati…
CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control
Baozhe Zhang, Xinwei Chen, Zhehan Li +4
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base,…
CREPES: Cooperative RElative Pose Estimation System
Zhiren Xun, Jian Huang, Zhehan Li +5
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot sy…
Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments with Prior Maps
Tiancheng Lai, Yuman Gao, Xiangyu Li +8
Autonomous exploration with UAVs in large-scale, topologically complex environments often suffers from low efficiency due to suboptimal scheduling and detours. Prior maps (e.g., co…
Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment
Jingping Wang, Long Xu, Haoran Fu +5
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by specia…
Unlocking Zero-shot Potential of Semi-dense Image Matching via Gaussian Splatting
Juncheng Chen, Chao Xu, Yanjun Cao
Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view s…
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain
Long Xu, Kaixin Chai, Zhichao Han +4
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to asse…
Global-State-Free Obstacle Avoidance for Quadrotor Control in Air-Ground Cooperation
Baozhe Zhang, Xinwei Chen, Qingcheng Chen +3
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation…
Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process
Zhenyu Hou, Senming Tan, Zhihao Zhang +6
Terrain analysis is critical for the practical ap- plication of ground mobile robots in real-world tasks, espe- cially in outdoor unstructured environments. In this paper, we propo…
Collaborative Localization and Tracking with Minimal Infrastructure
Yanjun Cao, David St-Onge, Andreas Zell +1
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requir…
TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity
Jiajun Yu, Nanhe Chen, Guodong Liu +3
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale…
Model-Based Planning and Control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels
Ruibin Zhang, Junxiao Lin, Yuze Wu +5
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the…
ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs' Navigation
Zhehan Li, Rui Mao, Nanhe Chen +3
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the…
SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain
Xiaoying Li, Long Xu, Xiaolin Huang +6
Autonomous navigation of car-like robots on uneven terrain poses unique challenges compared to flat terrain, particularly in traversability assessment and terrain-associated kinema…
ToFormer: Towards Large-scale Scenario Depth Completion for Lightweight ToF Camera
Juncheng Chen, Tiancheng Lai, Xingpeng Wang +4
Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment i…
Neural Ranging Inertial Odometry
Si Wang, Bingqi Shen, Fei Wang +3
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenar…
VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems
Yanjun Cao, Giovanni Beltrame
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially…
Collaborative Planning for Catching and Transporting Objects in Unstructured Environments
Liuao Pei, Junxiao Lin, Zhichao Han +4
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and c…
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suf…
Accurate position tracking with a single UWB anchor
Yanjun Cao, Chenhao Yang, Rui Li +2
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (S…
Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations
Xingpeng Wang, Ziwen Qu, Juncheng Chen +8
Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in field robotics. Advances in Real-Time Kinematic (RTK) technology can…
Intention-Aware Planner for Robust and Safe Aerial Tracking
Qiuyu Ren, Huan Yu, Jiajun Dai +6
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is neces…
Universal Trajectory Optimization Framework for Differential Drive Robot Class
Mengke Zhang, Nanhe Chen, Hu Wang +6
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are…
ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization
Jiajun Yu, Guodong Liu, Li Wang +6
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing fr…
Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability
Yuze Wu, Fan Yang, Ze Wang +4
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors…
Efficient Trajectory Generation Based on Traversable Planes in 3D Complex Architectural Spaces
Mengke Zhang, Zhihao Tian, Yaoguang Xia +3
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabili…
Parallel Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
Jiadong Lu, Zhehan Li, Tao Han +3
Accurate relative localization is critical for multi-robot cooperation. In robot swarms, measurements from different robots arrive asynchronously and with clock time-offsets. Altho…