53 citations · 168 across the 14 of their papers we have counts for
14 papers
Contact-Aware Motion Planning Among Movable Objects
Haokun Wang, Qianhao Wang, Fei Gao +1
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the…
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…
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…
Tight Collision Probability for UAV Motion Planning in Uncertain Environment
Tianyu Liu, Fu Zhang, Fei Gao +1
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inhere…
Distributed Optimization in Sensor Network for Scalable Multi-Robot Relative State Estimation
Tianyue Wu, Fei Gao
Distance measurements demonstrate distinctive scalability when used for relative state estimation in large-scale multi-robot systems. Despite the attractiveness of distance measure…
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…
Catch Planner: Catching High-Speed Targets in the Flight
Huan Yu, Pengqin Wang, Jin Wang +8
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For s…
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…
Real-time Scalable Dense Surfel Mapping
Kaixuan Wang, Fei Gao, Shaojie Shen
In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera po…
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…
Flying through a narrow gap using neural network: an end-to-end planning and control approach
Jiarong Lin, Luqi Wang, Fei Gao +2
In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an en…
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…
A Collaborative Aerial-Ground Robotic System for Fast Exploration
Luqi Wang, Daqian Cheng, Fei Gao +4
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is…