Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments, Lun Quan, Longji Yin, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA), under review.[preprint] [code]

Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection, Tianyu Liu, Qianhao Wang, Xingguang Zhong, Zhepei Wang, Fu Zhang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA), under review.

GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation, Qianhao Wang, Botao He, Zhiren Xun, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L), ICRA option, under review.[preprint]

Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration, Yuman Gao, Yingjian Wang, Xingguang Zhong, Tiankai Yang, Mingyang Wang, Zhixiong Xu, Yongchao Wang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L), ICRA option, under review. [preprint]

The Visual Inertial-Dynamical Multirotor Dataset, Kunyi Zhang, Tiankai Yang, Ziming Ding, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L), ICRA option, under review.[preprint] [video] [code&data]

TIE: An Autonomous and Adaptive Terrestrial-Aerial Quadrotor, Ruibin Zhang, Yuze Wu, Lixian Zhang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L), ICRA option, under review.[preprint]

Elastic Tracker: A Spatio-temporal Trajectory Planner for Flexible Areial Tracking, Jialin Ji, Neng Pan, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA), under review.[preprint]

Efficient Samplingbased Kinodynamic Planning with Regional Optimization and Bidirectional Search for Multirotors, Hongkai Ye, Neng Pan, Qianhao Wang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L), ICRA option, under review.[code]

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao, IEEE Transactions on Robotics (TRO), under review.[preprint] [code]

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning, Hongkai Ye, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA), under review.[code]

Robust Trajectory Planning for Spatial Temporal Multi-Drone Coordination in Large Scenes, Zhepei Wang, Chao Xu, Fei Gao,IEEE International Conference on Robotics and Automation (ICRA), under review.

Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing, Zhichao Han, Zhepei Wang, Chao Xu, Fei Gao, submitted to IEEE Robotics and Automation Letter (RA-L). [preprint]

External Forces Resilient Safe Motion Planning for Quadrotor, Yuwei Wu, Ziming Ding, Chao Xu, Fei Gao, submitted to IEEE Robotics and Automation Letter (RA-L). [preprint]

FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing, Botao He, Haojia Li, Siyuan Wu, Dong Wang, Zhiwei Zhang, Qianli Dong, Chao Xu, Fei Gao, accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [preprint]

Autonomous Flights in Dynamic Environments with Onboard Vision, Yingjian Wang, Jialin Ji, Qianhao Wang, Chao Xu, Fei Gao, accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [preprint]

Visibility-aware Trajectory Optimization with Application to Aerial Tracking, Qianhao Wang, Yuman Gao, Jialin Ji, Chao Xu, Fei Gao, accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [preprint]

Learning-based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments, Lizi Wang, Hongkai Ye, Qianhao Wang, Yuman Gao, Chao Xu, Fei Gao, accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [preprint]

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao, submitted to the International Journal of Robotics Research (IJRR). [preprint] [code]

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation, Ziming Ding, Tiankai Yang, Kunyi Zhang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper]

EGO-Swarm: A Fully Autonomous and Decentralized Qu​_adrotor Swarm System in Cluttered Environments, Xin Zhou, Jiangchao Zhu, Hongyu Zhou, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper] [code]

Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments, Zhichao Han, Ruibin Zhang, Neng Pan, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper] [code]

Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion, Jialin Ji, Zhepei Wang, Yingjian Wang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper]

EVA-Planner: Environmental Adaptive Quadrotor Planning, Lun Quan, Zhiwei Zhang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper] [code]

Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials, Zhepei Wang, Hongkai Ye, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021). [paper] [code]

Whole-Body Real-Time Motion Planning for Multicopters, Shaohui Yang, Botao He, Zhepei Wang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2021).

TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors, Hongkai Ye, Xin Zhou, Chao Xu, Jian Chu, Fei Gao, IEEE Robotics and Automation Letter (RA-L). [paper] [code]

CMPCC: Corridor based Model Predictive Contouring Control for Aggressive Drone Flight, Jialin Ji, Xin Zhou, Chao Xu, Fei Gao, International Symposium on Experimental Robotics (ISER 2020). [paper] [code]

EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors, Xin Zhou, Zhepei Wang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with ICRA 2021 option). [paper] [code]

Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight, Zhepei Wang, Xin Zhou, Chao Xu, Jian Chu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS2020 option). [paper] [code]

Attitude maneuver planning of Agile Satellites for Time Delay Integration Imaging, Wei Qiu, Chao Xu, Journal of Guidance Control and Dynamics (JGCD), 2019. [paper]

Time-in-Action reinforcement learning, Jiangcheng Zhu, Zhepei Wang, Douglas Mcilwraith, Chao Wu, Yike Guo, Chao Xu, IET Cyber-Systems and Robotics, 2019. [paper]

Object detection and localization in 3D environment by fusing raw fisheye image and attitude data, Jun Zhu, Jiangcheng Zhu, Xudong Wan, Chao Wu, Chao Xu, Journal of Visual Communication & Image Representation, 2019. [paper]

Model error correction in data assimilation by integrating neural networks, Jiangcheng Zhu, Shuang Hu, Rossella Arcucci, Chao Xu, Jihong Zhu, Yike Guo, Big Data Mining and Analytics, 2019. [paper]

Fast and stable learning of dynamical systems based on extreme learning machine, Jianghua Duan, Yongsheng Ou, Jianbing Hu, Zhiyang Wang, Shaokun Jin, Chao Xu, IEEE Transactions on Systems, Man, and Cybernetics: Systems (T-SMC), 2019. [paper]

Disturbance observer-based quadrotor attitude tracking control for aggressive maneuvers, Alberto Castillo, Ricardo Sanz, Pedro Garcia, Wei Qiu, Hongda Wang, Chao Xu, Control Engineering Practice, 2019. [paper]

Hierarchical decision and control for continuous multi-target problem: policy evaluation with action delay, Jiangcheng Zhu, Jun Zhu, Zhepei Wang, Shan Guo, Chao Xu, IEEE Transactions on Neural Networks and Learning Systems (T-NNLS), 2018. [paper]

An Experiment Implementation of Outdoor Formation Flight, Hongkai Ye, Jiangcheng Zhu, Zhepei Wang, Chao Xu, the 8th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, 2018. [paper]

A simultaneous trajectory generation method for quadcopter intercepting ground mobile vehicle, Jiangcheng Zhu, Jun Zhu, Chao Xu, International Journal of Advanced Robotic Systems (IJARS), 2017. [paper]

A comprehensive simulation testbed for aerial robot in dynamic scenario using Gazebo-ROS, Jiangcheng Zhu, Chao Xu, the Chinese Automation Congress, 2017. [paper]

Air-to-ground Shepherd Problem: an Action-Delay Reinforcement Learning Approach, Jiangcheng Zhu, Chao Xu, the American Control Conference, 2017. [paper]

A testbed for aerial robots formation flight, Jun Zhu, Jiangcheng Zhu, Chao Xu, the IEEE International Conference on Information & Automation, 2016. [media] [paper]

LS-SLAM: SLAM with Lebesgue Sampling, Tao Han, Changchun Ye, Chao Xu, Xiaofeng Wang, the American Control Conference, 2016. [paper]

A gradient optimization based PID tuning approach on quadrotor, Jiangcheng Zhu, Endong Liu, Shan Guo, Chao Xu, the 27th Chinese Control & Decision Conference, 2015. [paper]

Bi-objective optimization for robust RGB-D visual odometry, Tao Han, Chao Xu, Ryan Loxton, Lei Xie, the 27th Chinese Control & Decision Conference, 2015. [paper]

Particle image velocimetry based on a Deep Learning Motion Estimator , S. Cai, J. Liang, Q. Gao, C. Xu, R. Wei, IEEE Transactions on Instrumentation and Measurement, 2019. [paper]

Dense motion estimation of particle images via a convolutional neural network , S. Cai, S. Zhou, C. Xu, Experiments in Fluids, 2019. [paper]

Computational bilinear optimal control for a class of one-dimensional MHD flow systems , Z. Ren, Z. Zhou, T. Chen and C. Xu, ISA Transactions, 2019. [paper]

Optical plasma boundary reconstruction based on least square for EAST tokamak , H. Luo, Z. Luo, C. Xu, W. Jiang, Frontiers of Information Technology & Electronic Engineering, 2018. [paper]

Computational optimal control of 1D colloid transport by solute gradients in dead-end micro-channels , T. Chen, Z. Ren and C. Xu, Journal of Industrial & Management Optimization, 2018. [paper]

Motion estimation under location uncertainty for turbulent fluid flow , S. Cai, E. Memin, P. Derian and C. Xu, Experiments in Fluids, 2018. [paper]

A novel passive micromixer with modified asymmetric lateral wall structures , H. Wang, L. Shi, T. Zhou, C. Xu and Y. Deng, Asia-Pacific Journal of Chemical Engineering, 2018. [paper]

A multiple model approach for predictive control of indoor thermal environment with high resolution , K. Li, W. Xue, C. Xu and H. Mao, Journal of Building Performance Simulation, 2018. [paper]

Optimal tracking control of flow velocity in a one-dimensional magnetohydrodynamic flow , Z. Ren, C. Xu, Z. Wu, Engineering Optimization, 2018. [paper]

Boundary stabilization of a class of reaction-advection-diffusion systems via a gradient-based optimization approach , Z. Ren, C. Xu, Z. Zhou, Z. Wu and T. Chen, Journal of Franklin Institute, 2018. [paper]

Dynamic illumination optical flow computing for sensing multiple mobile robots from a drone , S. Cai, Y. Huang, B. Ye and C. Xu, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018. [paper]

Stability analysis of neutral stochastic delay differential equations by a generalisation of Banach’s contraction principle , Y. Guo, C. Xu, J. Wu, International Journal of Control, 2017. [paper]

Stabilization of a general heat-ODE system coupling at intermediate point , Z. Zhou, Z. Ren and C. Xu, International Journal of Robust & Nonlinear Control, 2017. [paper]

Control-oriented modeling of colloid transport by solute gradients in dead-end channels , T. Chen, C. Xu, Asia-Pacific Journal of Chemical Engineering, 2017. [paper]

Dynamic optimization of trajectory for ramp-up current profile in tokamak plasmas , Z. Ren, C. Xu and Y. Ou, Asia-Pacific Journal of Chemical Engineering, 2016. [paper]

The C-regularized semigroup method for partial differential equations with delays , X. Yu, G. Zheng and C. Xu, Discrete & Continuous Dynamical Systems – Series A (DCDS-A), 2016. [paper]

A gradient-based kernel optimization approach for parabolic distributed parameter control systems , Z. Ren, C. Xu, Q. Lin and R. Loxton, Pacific Journal of Optimization, 2016. [paper]

Controllability of Stochastic Delay Systems with Impulse in a Separable Hilbert Space , Y. Guo, C. Xu, Asian Journal of Control, 2016. [paper]

Computational optimal control of the Saint-Venant PDE model using the time-scaling technique , T. Chen, C. Xu, Asia-Pacific Journal of Chemical Engineering, 2016. [paper]

Dynamic optimization of open-loop input signals for ramp-up current profiles in tokamak plasmas , Z. Ren, C. Xu, Q. Lin, R. Loxton and K. Teo, Communications in Nonlinear Science & Numerical Simulation, 2016. [paper]

Linear backstepping output feedback control for uncertain linear systems , Y. Zhu, M. Krstic, H. Su, C. Xu, International Journal of Adaptive Control and Signal Processing, 2016. [paper]

Water hammer mitigation via PDE-constrained optimization , T. Chen, C. Xu, Q. Lin, R. Loxton and K. Teo, Control Engineering Practice, 2015. [paper]

Parameter estimation for nonlinear time-delay systems with noisy output measurements , Q. Lin, R. Loxton, C. Xu and K. Teo, Automatica, 2015. [paper]

Stabilization of a second order ODE-heat system coupling at intermediate point , Z. Zhou and C. Xu, Automatica, 2015. [paper]

Optimal boundary control for water hammer suppression in fluid transmission pipelines , T. Chen, C. Xu, Z. Ren and R. Loxton, Computers & Mathematics with Applications, 2015. [paper]

Start-up phase plasma discharge design of a tokamak via control parameterization method , S. Guo, K. Xu, C. Xu, Z. Ren and B. Xiao, Chinese Physics B, 2015. [paper]

Sensor deployment for pipeline leakage detection via optimal boundary control strategies , C. Xu, Y. Dong, Z. Ren, H. Jiang and X. Yu, Journal of Industrial & Management Optimization, 2015. [paper]

Local exponential stabilization of Fisher’s equation using the backstepping technique , X. Yu, C. Xu, H. Jiang, J. Chu, Systems & Control Letters, 2014. [paper]

Iterative learning control for linear distributed parameter systems-frequency domain design and analysis , D. Huang, X. Li, J. Xu, C. Xu and W. He, Systems & Control Letters, 2014. [paper]

The approximation for the boundary optimal control problem of Burgers-Fisher equation with constraints , X. Yu, R. Cheng, H. Jiang, Q. Zhang and C. Xu, Applied Mathematics & Computation, 2014. [paper]

The approximation for the boundary optimal control problem of heat equation defined in a variable domain , X. Yu, C. Xu, Chinese Physics B, 2014. [paper]

Time optimal Zermelo’s navigation problem with moving and fixed obstacles , B. Li, C. Xu, K. Teo and J. Chu, Applied Mathematics & Computation, 2013. [paper]

D-type anticipatory iterative learning control for a class of inhomogeneous heat equations , D. Huang, J. Xu, X. Li, C. Xu, M. Yu, Automatica, 2013. [paper]

Low dimensional modeling of linear heat transfer systems using the incremental proper orthogonal decomposition method , C. Xu and E. Schuster, Asia-Pacific Journal of Chemical Engineering, 2013. [paper]

Computing open-loop optimal control of the q-profile in ramp-up tokamak plasmas using the minimal-surface theory , C. Xu, Y. Ou, E. Schuster, X. Yu, Plasma Science & Technology, 2013. [paper]

Simserver simulation of a model-based current profile controller in the DIII-D plasma control system , J. Barton, Y. Ou, C. Xu, E. Schuster and M. Walker, Fusion Engineering & Design, 2011. [paper]

Sequential linear quadratic control of bilinear parabolic PDEs based on POD model reduction , C. Xu, Y. Ou and E. Schuster, Automatica, 2011. [paper]

Receding horizon optimal control of current profile evolution during the ramp-up phase at tokamaks , Y. Ou, C. Xu, E. Schuster, T.C. Luce, J.R. Ferron, M.L. Walker and D.A. Humphreys, Control Engineering Practice, 2011. [paper]

Optimal tracking control of current profile in tokamaks , Y. Ou, C. Xu, E. Schuster and ET. al., IEEE Transactions on Control Systems Technology, 2011. [paper]

Robust control design for the poloidal magnetic flux profile evolution in the presence of model uncertainties , Y. Ou, C. Xu, E. Schuster, IEEE Transactions on Plasma Science, 2010. [paper]

Transport parameter estimations of current density dynamics using the extended Kalman filter , C. Xu, Y. Ou and E. Schuster, IEEE Transactions on Plasma Science, 2010. [paper]

Ramp-up-phase current profile control of tokamak plasmas via nonlinear programming , C. Xu, Y. Ou, J.N. Dalessio, E. Schuster, T.C. Luce, J.R. Ferron, M.L. Walker, D.A. Humphreys, IEEE Transactions on Plasma Science, 2010. [paper]

Design and simulation of extremum-seeking open-loop optimal control of current profile in the DIII-D tokamak , Y. Ou, C. Xu, E. Schuster, T.C. Luce, J.R. Ferron and M.L. Walker, Plasma Physics & Controlled Fusion, 2008. [paper]

Stabilization of linearized 2D magnetohydrodynamic channel flow by backstepping boundary control , C. Xu, E. Schuster, R. Vazquez and M. Krstic, Systems & Control Letters, 2008. [paper]

Beam matching adaptive control via extremum seeking , E. Schuster, C. Xu, N. Torres, E. Morinaga, C. K. Allen, and M. Krstic, Nuclear Instruments & Methods in Physics Research A, 2007. [paper]

Towards model-based current profile control at DIII-D , Y. Ou, T.C. Luce, E. Schuster, J.R. Ferron, M.L. Walker, C. Xu, and D.A. Humphreys, Fusion Engineering & Design, 2007. [paper]

Time scaling transformation in quantum optimal control computation , B. Shi, C. Xu and R. Wu, the Chinese Control Conference, 2018. [paper]

Fluid motion estimation from image sequences via ensemble-based variational data assimilation , S. Cai, E. Memin, Y. Yang, and C. Xu and others, the American Control Conference, 2018. [paper]

Location uncertainty principle: toward the definition of parameter-free motion estimators , S. Cai, E. Memin, P. Derian, C. Xu, International Conference on Energy Minimization Methods in Computer Vision and Pattern Recognition, 2017. [paper]

Stability of flapping-wing vehicle near hovering under active control by varying flapping frequency , Y. Huang, J. Liang, C. Xu, the Chinese Automation Congress, 2017. [paper]

Optimal control for realizing target flow velocity in 1D MHD flow , Z. Ren, X. Liu, C. Xu, T. Chen, Z. Wu, the 36th Chinese Control Conference, 2017. [paper]

Optimal boundary control of colloid transport by solute gradients indead-end channels , T. Chen, C. Xu, Z. Ren, the 36th Chinese Control Conference, 2017. [paper]

ADRC methodology for a quadrotor UAV transporting hanged payload , H. Wang, Y. Huang, C. Xu, the IEEE International Conference on Information & Automation, 2016. [paper]

Parameter estimation for Ginzburg-Landau equation via implicit sampling , S. Guo, C. Xu and X. Tu, the American Control Conference, 2016. [paper]

Iterative learning control of linear distributed parameter systems–frequency domain design and analysis , X. Li, D. Huang, J. Xu and C. Xu, the 13th International Conference on Control, Automation & Systems, 2013. [ paper](Outstanding Paper Award)

Nonlinear programming methods for the motion planning problems of quad-rotor systems in the 3D space , Y. An, J. Zhu, C. Xu and L. Xie, the Chinese Control Conference, 2013. [paper]

Optimal path planning for Dubins’ micro-robotics using switching control , Y. An, C. Xu, Q. Lin and R. Loxton, the 10th IEEE International Conference on Control & Automation, 2013. [paper]

Open loop system identification for a quadrotor helicopter system , R. Schreurs, T. Han, Q. Zhang, Y. Zhu, C. Xu, S. Weiland, the 10th IEEE International Conference on Control & Automation, 2013. [paper]

Towards using feedback mechanisms for numerical integration of Hamiltonian systems: a spring-mass benchmark , H. Chen (Undergraduate Student), C. Xu, the 31th Chinese Control Conference, 2012. [paper]

A quick survey of nuclear fusion and plasma control , C. Xu, the 30th Chinese Control Conference, 2011. [paper]

Rank-1 incremental proper orthogonal decomposition based model order for high dimensional linear systems , C. Xu and E. Schuster, the 2011 American Control Conference, 2011. [paper]

On the recursive proper orthogonal decomposition method and applications to distributed sensing in cyber-physical systems , C. Xu, L. Luo and E. Schuster, the 2010 American Control Conference, 2010. [paper]

Control of ramp-up current profile dynamics in tokamak plasmas via the minimal-surface theory , C. Xu and E. Schuster, the 48th Conference on Decision and Control and the 28th Chinese Control Conference, 2009. [paper]

On iterative learning control of parabolic distributed parameter systems , C. Xu, R. Arastoo and E. Schuster, the 17th Mediterranean Conference on Control & Automation, 2009. [paper]

Observer-based stabilization of an unstable parabolic PDE using the pseudospectral method and Sturm-Liouville theory , C. Xu and E. Schuster, the 17th Mediterranean Conference on Control & Automation, 2009. [paper]

Optimal control of a parabolic PDE system arising in plasma transport via diffusivity-interior-boundary actuation , C. Xu, J.N. Dalessio and E. Schuster, the 47th Conference on Decision and Control, 2008. [paper]

Closed-loop tracking control of poloidal magnetic flux profile in tokamaks , Y. Ou, C. Xu and E. Schuster, the American Control Conference, 2008. (Best Student Paper Finalist). [paper]

Extremum seeking adaptive control of beam envelope in particle accelerators , E. Schuster, C. Xu and N. Torres, the IEEE Conference on Control Applications, 2006. [paper]