157 citations · 493 across the 26 of their papers we have counts for
26 papers
FlyCo: Foundation Model-Empowered Drones for Autonomous 3D Structure Scanning in Open-World Environments
Chen Feng, Guiyong Zheng, Tengkai Zhuang +6
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful hu…
SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction
Mingjie Zhang, Chen Feng, Zengzhi Li +6
Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically des…
FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance
Yichen Zhang, Xinyi Chen, Chen Feng +2
This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomo…
Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments
Yiming Luo, Zixuan Zhuang, Neng Pan +5
This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for thi…
MASSTAR: A Multi-Modal and Large-Scale Scene Dataset with a Versatile Toolchain for Surface Prediction and Completion
Guiyong Zheng, Jinqi Jiang, Chen Feng +2
Surface prediction and completion have been widely studied in various applications. Recently, research in surface completion has evolved from small objects to complex large-scale s…
APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor Flights
Xinyi Chen, Yichen Zhang, Boyu Zhou +1
Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor…
H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Yiming Luo, Boyu Zhou +1
In recent years, implicit online dense mapping methods have achieved high-quality reconstruction results, showcasing great potential in robotics, AR/VR, and digital twins applicati…
AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation
Haojia Li, Haokun Wang, Chen Feng +3
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, includin…
FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes
Chen Feng, Haojia Li, Mingjie Zhang +3
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation effici…
MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction
Chen Feng, Hangning Zhou, Huadong Lin +5
Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly r…
Bayesian quantum phase estimation with fixed photon states
Boyu Zhou, Saikat Guha, Christos N. Gagatsos
We consider a two-mode bosonic state with fixed photon number , whose upper and lower modes pick up a phase and respectively. We compute the optimal Fock…
H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Hanwen Zhang, Peize Liu +4
Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping pe…
Bayesian minimum mean square error for transmissivity sensing
Boyu Zhou, Boulat A. Bash, Saikat Guha +1
We address the problem of estimating the transmissivity of the pure-loss channel from the Bayesian point of view, i.e., we consider that some prior probability distribution functio…
PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao +2
Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-t…
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System
Boyu Zhou, Hao Xu, Shaojie Shen
Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we presen…
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen, Boyu Zhou, Jiarong Lin +3
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is benef…
Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure
Yichen Zhang, Boyu Zhou, Luqi Wang +1
Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the r…
Enhancing distributed sensing with imperfect error correction
Boyu Zhou, Anthony J. Brady, Quntao Zhuang
Entanglement has shown promise in enhancing information processing tasks in a sensor network, via distributed quantum sensing protocols. As noise is ubiquitous in sensor networks,…
Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
Luqi Wang, Boyu Zhou, Chuhao Liu +1
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest p…
Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
Hao Xu, Yichen Zhang, Boyu Zhou +4
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research t…
FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning
Boyu Zhou, Yichen Zhang, Xinyi Chen +1
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate,…
RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight
Boyu Zhou, Jie Pan, Fei Gao +1
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challen…
Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
Boyu Zhou, Fei Gao, Jie Pan +1
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safet…
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Boyu Zhou, Fei Gao, Luqi Wang +2
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find…