7 citations · 17 across the 22 of their papers we have counts for
6 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…
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…
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…