27 citations · 56 across the 25 of their papers we have counts for
8 papers · 1 filter
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…
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Yunfan Ren, Fangcheng Zhu, Wenyi Liu +4
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains…
Robust Real-time LiDAR-inertial Initialization
Fangcheng Zhu, Yunfan Ren, Fu Zhang
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are oft…