106 citations · 400 across the 38 of their papers we have counts for
7 papers · 1 filter
E-TRoll: Tactile Sensing and Classification via A Simple Robotic Gripper for Extended Rolling Manipulations
Xin Zhou, Adam J. Spiers
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently fo…
Geometrically Constrained Trajectory Optimization for Multicopters
Zhepei Wang, Xin Zhou, Chao Xu +1
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of t…
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Xin Zhou, Jiangchao Zhu, Hongyu Zhou +2
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The p…
EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors
Xin Zhou, Zhepei Wang, Hongkai Ye +2
Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction.…
TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors
Hongkai Ye, Xin Zhou, Zhepei Wang +3
In this paper, we propose a lightweight yet effective Topology Guided Kinodynamic planner (TGK-Planner) for quadrotor aggressive flights with limited onboard computing resources. T…
CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight
Jialin Ji, Xin Zhou, Chao Xu +1
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as c…
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu +2
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this pa…