157 citations · 493 across the 26 of their papers we have counts for
4 papers · 1 filter
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…
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
Fei Gao, Luqi Wang, Boyu Zhou +3
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-an…
FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots
Luxin Han, Fei Gao, Boyu Zhou +1
Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast…