64 citations · 240 across the 64 of their papers we have counts for
17 papers · 1 filter
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…
Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration
Yuman Gao, Yingjian Wang, Xingguang Zhong +6
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidt…
Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments
Lun Quan, Longji Yin, Chao Xu +1
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoid…
Elastic Tracker: A Spatio-temporal Trajectory Planner Flexible Aerial Tracking
Jialin Ji, Neng Pan, Chao Xu +1
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an objec…
GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation
Qianhao Wang, Botao He, Zhiren Xun +2
Gaze is an intuitive and direct way to represent the intentions of an individual. However, when it comes to assistive aerial teleoperation which aims to perform operators' intentio…
Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles
Ruibin Zhang, Yuze Wu, Lixian Zhang +2
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles…
Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms
Xin Zhou, Zhepei Wang, Xiangyong Wen +3
Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. Th…
Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing
Zhichao Han, Zhepei Wang, Neng Pan +3
With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always…
Visibility-aware Trajectory Optimization with Application to Aerial Tracking
Qianhao Wang, Yuman Gao, Jialin Ji +2
The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to t…
Fast-Tracker 2.0: Improving Autonomy of Aerial Tracking with Active Vision and Human Location Regression
Neng Pan, Ruibin Zhang, Tiankai Yang +2
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to vari…
FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing
Botao He, Haojia Li, Siyuan Wu +5
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting th…
Autonomous Flights in Dynamic Environments with Onboard Vision
Yingjian Wang, Jialin Ji, Qianhao Wang +2
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion…
Integrating Fast Regional Optimization into Sampling-based Kinodynamic Planning for Multirotor Flight
Hongkai Ye, Tianyu Liu, Chao Xu +1
For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In…
External Forces Resilient Safe Motion Planning for Quadrotor
Yuwei Wu, Ziming Ding, Chao Xu +1
Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that c…
The Visual-Inertial-Dynamical Multirotor Dataset
Kunyi Zhang, Tiankai Yang, Ziming Ding +5
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-an…
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…