27 citations · 56 across the 25 of their papers we have counts for
26 papers
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Yisheng Li, Longji Yin, Tingrui Zhang +6
Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered environments, yet existing planners either oversimplify the payload geome…
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…
Flying through cluttered and dynamic environments with LiDAR
Huajie Wu, Wenyi Liu, Yunfan Ren +5
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearin…
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…
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
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…
LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
Wenyi Liu, Yunfan Ren, Rui Guo +6
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result…
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…
Snapp: An Agile Robotic Fish with 3-D Maneuverability for Open Water Swim
Timothy J. K. Ng, Nan Chen, Fu Zhang
Fish exhibit impressive locomotive performance and agility in complex underwater environments, using their undulating tails and pectoral fins for propulsion and maneuverability. Re…
Perch a quadrotor on planes by the ceiling effect
Yuying Zou, Haotian Li, Yunfan Ren +5
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar struct…
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…
Tight Collision Probability for UAV Motion Planning in Uncertain Environment
Tianyu Liu, Fu Zhang, Fei Gao +1
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inhere…
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning
Yunfan Ren, Yixi Cai, Fangcheng Zhu +2
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this…
ImMesh: An Immediate LiDAR Localization and Meshing Framework
Jiarong Lin, Chongjiang Yuan, Yixi Cai +5
In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework…
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…
RLIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
Jiarong Lin, Fu Zhang
Simultaneous localization and mapping (SLAM) are crucial for autonomous robots (e.g., self-driving cars, autonomous drones), 3D mapping systems, and AR/VR applications. This work p…
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
Yunfan Ren, Siqi Liang, Fangcheng Zhu +2
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution…
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…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…