6 papers
Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation
Yisheng Li, Longji Yin, Yixi Cai +6
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical g…
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…
Flying through cluttered and dynamic environments with LiDAR
Huajie Wu, Wenyi Liu, Yunfan Ren +5
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearin…
Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
Rundong Li, Zheng Liu, Hairuo Wei +3
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the…
Autonomous Tail-Sitter Flights in Unknown Environments
Guozheng Lu, Yunfan Ren, Fangcheng Zhu +5
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In thi…
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
Zheng Liu, Haotian Li, Chongjian Yuan +7
In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associat…