155 citations · 358 across the 16 of their papers we have counts for
16 papers · 1 filter
NavRL++: A System-Level Framework for Improving Sim-to-Real Transfer in Reinforcement Learning-Based Robot Navigation
Zhefan Xu, Hanyu Jin, Kenji Shimada
Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framew…
ASIP-Planner: Adaptive Planning for UAV Surface Inspection in Partially Known Indoor Environments
Hanyu Jin, Zhefan Xu, Haoyu Shen +3
Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unman…
Adaptive Planning Framework for UAV-Based Surface Inspection in Partially Unknown Indoor Environments
Hanyu Jin, Zhefan Xu, Haoyu Shen +3
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in…
LV-DOT: LiDAR-visual dynamic obstacle detection and tracking for autonomous robot navigation
Zhefan Xu, Haoyu Shen, Xinming Han +3
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have b…
NavRL: Learning Safe Flight in Dynamic Environments
Zhefan Xu, Xinming Han, Haoyu Shen +2
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approac…
Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments
Zhefan Xu, Hanyu Jin, Xinming Han +2
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challen…
Heuristic-based Incremental Probabilistic Roadmap for Efficient UAV Exploration in Dynamic Environments
Zhefan Xu, Christopher Suzuki, Xiaoyang Zhan +1
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of s…
Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation
Zhefan Xu, Kenji Shimada
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth an…
Onboard dynamic-object detection and tracking for autonomous robot navigation with RGB-D camera
Zhefan Xu, Xiaoyang Zhan, Yumeng Xiu +2
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous d…
A vision-based autonomous UAV inspection framework for unknown tunnel construction sites with dynamic obstacles
Zhefan Xu, Baihan Chen, Xiaoyang Zhan +3
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measuremen…
A real-time dynamic obstacle tracking and mapping system for UAV navigation and collision avoidance with an RGB-D camera
Zhefan Xu, Xiaoyang Zhan, Baihan Chen +3
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D…
Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization
Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan +2
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithm…
DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles
Zhefan Xu, Di Deng, Yiping Dong +1
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behavio…
Frontier-based Automatic-differentiable Information Gain Measure for Robotic Exploration of Unknown 3D Environments
Di Deng, Zhefan Xu, Wenbo Zhao +1
The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based he…
Coordinated Aerial-Ground Robot Exploration via Monte-Carlo View Quality Rendering
Di Deng, Zhefan Xu, Wenbo Zhao +1
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing explor…
Autonomous UAV Exploration of Dynamic Environments via Incremental Sampling and Probabilistic Roadmap
Zhefan Xu, Di Deng, Kenji Shimada
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration…