188 citations · 467 across the 39 of their papers we have counts for
4 papers · 1 filter
DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation
Kun Cao, Muqing Cao, Shenghai Yuan +1
This paper introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using…
VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +2
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lid…
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +3
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of vie…
Vision Based Autonomous UAV Plane Estimation And Following for Building Inspection
Yang Lyu, Muqing Cao, Shenghai Yuan +1
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the façade inspection is among the most promising ones. In this paper, we fo…