64 citations · 240 across the 64 of their papers we have counts for
14 papers · 1 filter
Generating Large Convex Polytopes Directly on Point Clouds
Xingguang Zhong, Yuwei Wu, Dong Wang +3
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clo…
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
Jialin Ji, Zhepei Wang, Yingjian Wang +2
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless plan…
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
Zhichao Han, Ruibin Zhang, Neng Pan +2
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging…
EVA-Planner: Environmental Adaptive Quadrotor Planning
Lun Quan, Zhiwei Zhang, Xingguang Zhong +2
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating sa…
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…
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
Ziming Ding, Tiankai Yang, Kunyi Zhang +2
Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as th…
Learning-based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments
Lizi Wang, Hongkai Ye, Qianhao Wang +3
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice…
Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials
Zhepei Wang, Hongkai Ye, Chao Xu +1
For quadrotor trajectory planning, describing a polynomial trajectory through coefficients and end-derivatives both enjoy their own convenience in energy minimization. We name them…
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…
RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight
Boyu Zhou, Jie Pan, Fei Gao +1
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challen…
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…
Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu +1
This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}.…