20 citations · 86 across the 18 of their papers we have counts for
27 papers
Bearing-based Relative Localization for Robotic Swarm with Partially Mutual Observations
Yingjian Wang, Xiangyong Wen, Yanjun Cao +2
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solver…
Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
Junlong Guo, Zhiren Xun, Shuang Geng +3
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assu…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…
Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements
Yingjian Wang, Xiangyong Wen, Longji Yin +3
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between mea…
Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes
Zhepei Wang, Chao Xu, Fei Gao
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumb…
STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning
Hongkai Ye, Chao Xu, Fei Gao
In constrained solution spaces with a huge number of homotopy classes, stand-alone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is i…