12 citations · 30 across the 8 of their papers we have counts for
10 papers
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
Aaron Ray, Alyssa Pierson, Hai Zhu +2
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning p…
Improving Pedestrian Prediction Models with Self-Supervised Continual Learning
Luzia Knoedler, Chadi Salmi, Hai Zhu +2
Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This pap…
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
Hai Zhu, Bruno Brito, Javier Alonso-Mora
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertai…
Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu, Jen Jen Chung, Nicholas R. J. Lawrance +2
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface…
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments
Hai Zhu, Francisco Martinez Claramunt, Bruno Brito +1
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each ro…
Edge Computing Assisted Autonomous Flight for UAV: Synergies between Vision and Communications
Quan Chen, Hai Zhu, Lei Yang +3
Autonomous flight for UAVs relies on visual information for avoiding obstacles and ensuring a safe collision-free flight. In addition to visual clues, safe UAVs often need connecti…
Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians
Bruno Brito, Hai Zhu, Wei Pan +1
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to it…
With Whom to Communicate: Learning Efficient Communication for Multi-Robot Collision Avoidance
Álvaro Serra-Gómez, Bruno Brito, Hai Zhu +2
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coo…
Comment on "A Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles"
Hai Zhu, Javier Alonso-Mora
This comment presents the results of using chance-constrained model predictive control (MPC) to solve a one-horizon benchmark collision avoidance problem.
Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments
Jiahao Lin, Hai Zhu, Javier Alonso-Mora
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tr…