64 citations · 85 across the 11 of their papers we have counts for
11 papers · 1 filter
Ground-Effect-Aware Modeling and Control for Multicopters
Tiankai Yang, Kaixin Chai, Jialin Ji +3
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to exte…
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
Jialiang Hou, Neng Pan, Zhepei Wang +4
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, bu…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…
Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios
Yuman Gao, Jialin Ji, Qianhao Wang +7
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground…
Catch Planner: Catching High-Speed Targets in the Flight
Huan Yu, Pengqin Wang, Jin Wang +8
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For s…
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…
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…
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…
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…
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…
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…