64 citations · 240 across the 64 of their papers we have counts for
13 papers · 1 filter
Collaborative Planning for Catching and Transporting Objects in Unstructured Environments
Liuao Pei, Junxiao Lin, Zhichao Han +4
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and c…
Simultaneous Time Synchronization and Mutual Localization for Multi-robot System
Xiangyong Wen, Yingjian Wang, Xi Zheng +3
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually und…
ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs' Navigation
Zhehan Li, Rui Mao, Nanhe Chen +3
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the…
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain
Long Xu, Kaixin Chai, Zhichao Han +4
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to asse…
Intention-Aware Planner for Robust and Safe Aerial Tracking
Qiuyu Ren, Huan Yu, Jiajun Dai +6
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is neces…
Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning
Shuang Geng, Qianhao Wang, Lei Xie +3
For letting mobile robots travel flexibly through complicated environments, increasing attention has been paid to the whole-body collision evaluation. Most existing works either op…
Polynomial-based Online Planning for Autonomous Drone Racing in Dynamic Environments
Qianhao Wang, Dong Wang, Chao Xu +2
In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the cha…
CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control
Baozhe Zhang, Xinwei Chen, Zhehan Li +4
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base,…
Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability
Yuze Wu, Fan Yang, Ze Wang +4
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors…
CREPES: Cooperative RElative Pose Estimation System
Zhiren Xun, Jian Huang, Zhehan Li +5
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot sy…
Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization
Tingrui Zhang, Jingping Wang, Chao Xu +2
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environmen…
Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning
Zhi Zheng, Jin Wang, Yuze Wu +7
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and e…
Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment
Jingping Wang, Long Xu, Haoran Fu +5
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by specia…