7 citations · 14 across the 15 of their papers we have counts for
15 papers · 1 filter
D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
Benxu Tang, Yixi Cai, Fanze Kong +2
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from…
Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
Benxu Tang, Yunfan Ren, Yixi Cai +6
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivid…
Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms
Longji Yin, Yunfan Ren, Fangcheng Zhu +6
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been…
A Survey on LiDAR-based Autonomous Aerial Vehicles
Yunfan Ren, Yixi Cai, Haotian Li +6
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and contr…
LiDAR-based Quadrotor Autonomous Inspection System in Cluttered Environments
Wenyi Liu, Huajie Wu, Liuyu Shi +4
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated wit…
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu, Yunfan Ren, Longji Yin +8
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state es…
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
Nan Chen, Fanze Kong, Haotian Li +6
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast…
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
Liang Li, Haotian Li, Xiyuan Liu +6
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method lev…
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
Yixi Cai, Fanze Kong, Yunfan Ren +3
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mappi…
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres
Benxu Tang, Yunfan Ren, Fangcheng Zhu +4
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strat…
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
Guozheng Lu, Yixi Cai, Nan Chen +3
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatnes…
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
Fanze Kong, Xiyuan Liu, Benxu Tang +6
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing n…
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
Xiyuan Liu, Zheng Liu, Fanze Kong +1
Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-…
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry
Fangcheng Zhu, Yunfan Ren, Fanze Kong +5
Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescu…
Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
Fanze Kong, Wei Xu, Fu Zhang
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree b…