63 citations · 190 across the 6 of their papers we have counts for
7 papers
Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments
Xiaoyang Zhan, Shiyu Chen, Kenji Shimada
Semantic exploration in confined environments requires both environment mapping and detailed observation of target objects. For ground robots, limited sensor vertical fields of vie…
Semantic Exploration and Dense Mapping of Complex Environments using Ground Robot with Panoramic LiDAR-Camera Fusion
Xiaoyang Zhan, Shixin Zhou, Qianqian Yang +4
This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panor…
Heuristic-based Incremental Probabilistic Roadmap for Efficient UAV Exploration in Dynamic Environments
Zhefan Xu, Christopher Suzuki, Xiaoyang Zhan +1
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of s…
Onboard dynamic-object detection and tracking for autonomous robot navigation with RGB-D camera
Zhefan Xu, Xiaoyang Zhan, Yumeng Xiu +2
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous d…
A vision-based autonomous UAV inspection framework for unknown tunnel construction sites with dynamic obstacles
Zhefan Xu, Baihan Chen, Xiaoyang Zhan +3
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measuremen…
A real-time dynamic obstacle tracking and mapping system for UAV navigation and collision avoidance with an RGB-D camera
Zhefan Xu, Xiaoyang Zhan, Baihan Chen +3
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D…
Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization
Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan +2
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithm…