32 citations · 32 across the 11 of their papers we have counts for
12 papers
GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding
Yuan Zhou, Zhenyu Hou, Guangtong Xu +4
Large-scale 3D multi-agent path finding becomes increasingly difficult under dense traffic. Priority Inheritance with Backtracking (PIBT) scales well, but its one-step goal-directe…
Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight
Zhitao Liu, Guangtong Xu, Zihan Wang +3
Autonomous flight in unknown cluttered environments is hindered by the computation-quality-memory trilemma of onboard trajectory generation. In this paper, we propose an efficient…
DPNet: Efficient Dead-End Prediction and Avoidance for Vision-Based UAV Navigation
Ruibin Zhang, Lun Pan, Zelong Xia +2
Vision-based Unmanned Aerial Vehicles (UAVs) often suffer from navigation failures in dead ends due to limited sensing accuracy and range. To address this challenge, this paper pro…
FLOAT Drone for Physical Interaction: Lateral Airflow Reduction, Wrench Modeling, and Adaptive Control
Junxiao Lin, Kehan Zhou, Shuhang Ji +4
Aerial physical interaction represents a promising direction for next-generation unmanned aerial vehicles (UAVs), but it requires an aerial platform that can exert contact forces w…
Agile Fall Recovery for Quadrotors with Bidirectional Thrust via Reinforcement Learning
Anke Zhao, Yuhang Zhong, Kenghou Hoi +5
Autonomous fall recovery is a critical capability for quadrotors operating in real-world environments, where collisions or failures may leave the vehicle resting on the ground in a…
FLIP: Real-Time and Resilient Formation Planning for Large-Scale DIstributed Swarms via Point Cloud Registration
Yuan Zhou, Guangtong Xu, Zhenyu Hou +2
Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, wh…
Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators
Long Xu, Choilam Wong, Yuhang Zhong +3
We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we pr…
Number Adaptive Formation Flight Planning via Affine Deformable Guidance in Narrow Environments
Yuan Zhou, Jialiang Hou, Guangtong Xu +1
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper…
TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization
Long Xu, Choilam Wong, Mengke Zhang +3
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing consid…
Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms
Jialiang Hou, Xin Zhou, Neng Pan +5
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm,…
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
Jialiang Hou, Neng Pan, Zhepei Wang +4
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, bu…
Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
Jialiang Hou, Xin Zhou, Zhongxue Gan +1
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized…