10 papers
Autonomous FPV Flight with Translational Optical Flow and Uncertainty Mask
Yang Deng, Yu Hu, Feng Yu +2
Autonomous FPV quadrotor flight in complex environments using a monocular RGB camera as the sole exteroceptive sensor remains a fundamental challenge. Recent research has shown tha…
E2E-Fly: An Integrated Training-to-Deployment System for End-to-End Quadrotor Autonomy
Fangyu Sun, Fanxing Li, Linzuo Zhang +5
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies,…
Vision-Based End-to-End Learning for UAV Traversal of Irregular Gaps via Differentiable Simulation
Linzuo Zhang, Yu Hu, Feng Yu +3
-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, tra…
QuadAgent: A Responsive Agent System for Vision-Language Guided Quadrotor Agile Flight
Ao Zhuang, Feng Yu, Tianbao Zhang +2
We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decoup…
Vector Field Augmented Differentiable Policy Learning for Vision-Based Drone Racing
Yang Su, Feng Yu, Yu Hu +4
Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has re…
AI-IO: An Aerodynamics-Inspired Real-Time Inertial Odometry for Quadrotors
Jiahao Cui, Feng Yu, Linzuo Zhang +2
Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost,…
Curriculum Reinforcement Learning for Quadrotor Racing with Random Obstacles
Fangyu Sun, Fanxing Li, Yu Hu +4
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free r…
Mastering Diverse, Unknown, and Cluttered Tracks for Robust Vision-Based Drone Racing
Feng Yu, Yu Hu, Yang Su +3
Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed…
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments
Linzuo Zhang, Yu Hu, Yang Deng +2
Collision-free flight in cluttered environments is a critical capability for autonomous quadrotors. Traditional methods often rely on detailed 3D map construction, trajectory gener…
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera
Yu Hu, Yuang Zhang, Yunlong Song +6
Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this inf…