7 citations · 17 across the 22 of their papers we have counts for
5 papers · 1 filter
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…
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…