64 citations · 240 across the 64 of their papers we have counts for
12 papers · 1 filter
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…
Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments
Changjia Ma, Zhichao Han, Tingrui Zhang +5
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cl…
Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments
Lun Quan, Longji Yin, Tingrui Zhang +7
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formati…
An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments
Zhichao Han, Yuwei Wu, Tong Li +8
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial…
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Qianhao Wang, Zhepei Wang, Liuao Pei +2
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper…
Automatic Parameter Adaptation for Quadrotor Trajectory Planning
Xin Zhou, Chao Xu, Fei Gao
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have…
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…
DIDO: Deep Inertial Quadrotor Dynamical Odometry
Kunyi Zhang, Chenxing Jiang, Jinghang Li +4
In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the quadrotor dynamics is considered as a percepti…
Real-Time Trajectory Planning for Aerial Perching
Jialin Ji, Tiankai Yang, Chao Xu +1
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adapti…
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Yunfan Ren, Fangcheng Zhu, Wenyi Liu +4
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains…