7 papers
D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
Benxu Tang, Yixi Cai, Fanze Kong +2
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from…
Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
Benxu Tang, Yunfan Ren, Yixi Cai +6
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivid…
Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms
Longji Yin, Yunfan Ren, Fangcheng Zhu +6
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been…
A Survey on LiDAR-based Autonomous Aerial Vehicles
Yunfan Ren, Yixi Cai, Haotian Li +6
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and contr…
LiDAR-based Quadrotor Autonomous Inspection System in Cluttered Environments
Wenyi Liu, Huajie Wu, Liuyu Shi +4
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated wit…
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
Fangcheng Zhu, Yunfan Ren, Longji Yin +8
Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state es…