12 citations · 19 across the 2 of their papers we have counts for
6 papers
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…