977 citations · 5.1k across the 105 of their papers we have counts for
106 papers
Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control
Fen Liu, Shenghai Yuan, Wei Meng +2
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-coop…
Angle-Displacement Rigidity Theory with Application to Distributed Network Localization
Xu Fang, Xiaolei Li, Lihua Xie
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in lo…
Distributed Semi-global Output Feedback Formation Maneuver Control of High-order Multi-agent Systems
Xu Fang, Lihua Xie
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation mane…
3-D Distributed Localization with Mixed Local Relative Measurements
Xu Fang, Xiaolei Li, Lihua Xie
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and…
Distributed Localization in Dynamic Networks via Complex Laplacian
Xu Fang, Lihua Xie, Xiaolei Li
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization prob…
EfficientFi: Towards Large-Scale Lightweight WiFi Sensing via CSI Compression
Jianfei Yang, Xinyan Chen, Han Zou +3
WiFi technology has been applied to various places due to the increasing requirement of high-speed Internet access. Recently, besides network services, WiFi sensing is appealing in…
Relative Transformation Estimation Based on Fusion of Odometry and UWB Ranging Data
Thien Hoang Nguyen, Lihua Xie
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance m…
Distributed stochastic proximal algorithm with random reshuffling for non-smooth finite-sum optimization
Xia Jiang, Xianlin Zeng, Jian Sun +2
The non-smooth finite-sum minimization is a fundamental problem in machine learning. This paper develops a distributed stochastic proximal-gradient algorithm with random reshufflin…
DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation
Kun Cao, Muqing Cao, Shenghai Yuan +1
This paper introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using…
Design and Experimental Evaluation of a Hierarchical Controller for an Autonomous Ground Vehicle with Large Uncertainties
Juncheng Li, Maopeng Ran, Lihua Xie
Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applic…
Online Abstract Dynamic Programming with Contractive Models
Xiuxian Li, Lihua Xie
This paper addresses the abstract dynamic programming (DP) in the online scenario, where the abstract DP mapping is time-varying, instead of static. In this case, optimal costs and…
F-LOAM: Fast LiDAR Odometry And Mapping
Han Wang, Chen Wang, Chun-Lin Chen +1
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization a…
Regret and Cumulative Constraint Violation Analysis for Online Convex Optimization with Long Term Constraints
Xinlei Yi, Xiuxian Li, Tao Yang +3
This paper considers online convex optimization with long term constraints, where constraints can be violated in intermediate rounds, but need to be satisfied in the long run. The…
Self-Point-Flow: Self-Supervised Scene Flow Estimation from Point Clouds with Optimal Transport and Random Walk
Ruibo Li, Guosheng Lin, Lihua Xie
Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishin…
Innovation Compression for Communication-efficient Distributed Optimization with Linear Convergence
Jiaqi Zhang, Keyou You, Lihua Xie
Information compression is essential to reduce communication cost in distributed optimization over peer-to-peer networks. This paper proposes a communication-efficient linearly con…
VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +2
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lid…
Regret and Cumulative Constraint Violation Analysis for Distributed Online Constrained Convex Optimization
Xinlei Yi, Xiuxian Li, Tao Yang +3
This paper considers the distributed online convex optimization problem with time-varying constraints over a network of agents. This is a sequential decision making problem with tw…
Practical Output Consensus of Nonlinear Heterogeneous Multi-Agent Systems with Limited Data Rate
Maopeng Ran, Lihua Xie
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-f…
Towards Real-time Semantic RGB-D SLAM in Dynamic Environments
Tete Ji, Chen Wang, Lihua Xie
Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic obj…
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping
Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao +3
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of vie…
Quantized Distributed Gradient Tracking Algorithm with Linear Convergence in Directed Networks
Yongyang Xiong, Ligang Wu, Keyou You +1
Communication efficiency is a major bottleneck in the applications of distributed networks. To address the problem, the problem of quantized distributed optimization has attracted…
Lightweight 3-D Localization and Mapping for Solid-State LiDAR
Han Wang, Chen Wang, Lihua Xie
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Ex…
Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment
Han Wang, Chen Wang, Lihua Xie
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection A…
Vision Based Autonomous UAV Plane Estimation And Following for Building Inspection
Yang Lyu, Muqing Cao, Shenghai Yuan +1
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the façade inspection is among the most promising ones. In this paper, we fo…