Research Group

Flying Autonomous Robotics(FAR)

Research Areas

  • Aerial Robots
  • Autonomous Systems
  • Planning and Control
  • Distributed Systems
  • Swarm Intelligence
  • Decentralized Planning
  • Path and Motion Planning
  • Dense Reconstruction
  • Multi-sensor Fusion

principle investigator

Fei Gao (高飞)

PhD | Assistant Professor | Deputy Director and Technical Leader of the FAST Lab

biography
Fei Gao is currently a tenure-track assistant professor (doctoral supervisor) at the Department of Control Science and Engineering, Zhejiang University, where he works as the deputy-director and the technical leader of the Field Autonomous System and Computing (FAST) Laboratory, and leads the Flying Autonomous Robotics(FAR)group. He also works as PI for the Center of Autonomous Navigation of Swarm Robotics in Huzhou Institute, Zhejiang University. Fei Gao received his Ph.D. in Electronic and Computer Engineering from the Hong Kong University of Science and Technology in 2019. His research interests include aerial robots, autonomous navigation, motion planning, optimization, and localization and mapping. As the first or corresponding author, he has published over 40 prestigious papers in Robotics, including ICRA, IROS, ISER, ISRR, RAL, JFR, TRO, and Science Robotics. He is also the recipient of the IEEE-TRO 2020 King-Sun Fu Best Paper Award Honorable Mention, the IEEE-SSRR 2016 best paper award, and the IEEE/RSJ IROS 2021 best Application Paper Finalist. His research has been reported multiple times by mainstream technology media, such as IEEE Spectrum and Science. Fei Gao serves as associate editors for IET Cyber-systems and Robotics, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Publication

Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors, Yunfan Ren, Fangcheng Zhu, Wenyi Liu, Zhepei Wang, Yi Lin, Fei Gao, Fu Zhang, IEEE Robotics and Automation Letter (IROS 2022 ). [paper]

Enhanced Decentralized Autonomous Aerial Swarm with Group Planning, Jialiang Hou, Xin Zhou, Zhongxue Gan, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2022 ). [paper] [video]

Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements, Yingjian Wang, Xiangyong Wen, Longji Yin, Chao Xu, Yanjun Cao, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2022 ). [paper]

DIDO: Deep Inertial Quadrotor Dynamical Odometry, Kunyi Zhang, Chenxing Jiang, Jinghang Li, Sheng Yang, Teng Ma, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2022 ). [paper] [video]

Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning, Junlong Guo, Zhiren Xun, Shuang Geng, Yi Lin, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper]

Real-Time Trajectory Planning for Aerial Perching, Jialin Ji, Tiankai Yang, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper] [video]

LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane, Ze Wang, Kailun Yang, Hao Shi, Peng Li, Fei Gao, Kaiwei Wang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper]

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, Yi Lin, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper]

Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining, Hongkai Ye, Neng Pan, Qianhao Wang, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022).

Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes, Zhepei Wang, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper]

Automatic Parameter Adaptation for Quadrotor Trajectory Planning, Xin Zhou, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [paper]

Swarm of Micro Flying Robots in the Wild, Xin Zhou, Xiangyong Wen, Zhepei Wang, Yuman Gao, Haojia Li, Qianhao Wang, Tiankai Yang, Haojian Lu, Yanjun Cao, Chao Xu, Fei Gao, Science Robotics (SR). [paper] [video]

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao, IEEE Transactions on Robotics (T-RO). [paper] [code]

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 2022).[paper] [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 2022).

The Visual Inertial-Dynamical Multirotor Dataset, Kunyi Zhang, Tiankai Yang, Ziming Ding, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2022). [paper] [video] [code&data]

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 2022). [paper]

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 (ICRA 2022).[paper]

Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles, Ruibin Zhang,Yuze Wu, Lixian Zhang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (ICRA 2022). [paper]

Raptor: Robust and perception-aware trajectory replanning for quadrotor fast flight,Boyu Zhou, Jie Pan, Fei Gao, Shaojie Shen, IEEE Transactions on Robotics (T-RO). [paper]

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

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

Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms, Xin Zhou, Zhepei Wang, Xiangyong Wen, Jiangchao Zhu, Chao Xu, Fei Gao, Technical Report, 2021. [arxiv] [video]

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, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [paper]

Autonomous Flights in Dynamic Environments with Onboard Vision, Yingjian Wang, Jialin Ji, Qianhao Wang, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Best Application Paper Award Finalists. [paper]

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

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

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 Quadrotor 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]

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]

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]

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]

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths, Boyu Zhou, Fei Gao, Jie Pan, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2020). [code]

Autonomous aerial robot using dual‐fisheye camerasWenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin, Shaojie Shen, Journal of Field Robotics (JFR). [paper]

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex EnvironmentsFei Gao, Luqi Wang, Boyu Zhou, Xin Zhou, Jie Pan, Shaojie Shen, IEEE Transactions on Robotics (T-RO). King-Sun Fu Memorial Best Paper Award Honorable Mention. [paper][code]

Temporal Scheduling and Optimization for Multi-MAV Planning, William Wu, Fei Gao*, Luqi Wang, Boyu Zhou, Shaojie Shen, International Symposium on Robotics Research (ISRR 2019).

Optimal Trajectory Generation for Quadrotor Teach-and-Repeat, Fei Gao, Luqi Wang, Kaixuan Wang, William Wu, Boyu Zhou, Luxin Han, Shaojie Shen, IEEE Robotics and Automation Letter (RA-L with ICRA2019 option).[paper] [code]

Real-Time Scalable Dense Surfel Mapping, Kaixuan Wang, Fei Gao, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2019). [paper] [code]

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight, Boyu Zhou, Fei Gao*, Luqi Wang, Chuhao Liu, Shaojie Shen, IEEE Robotics and Automation Letter (RA-L with IROS 2019 option). [paper] [code]

FIESTA: A Fast Incremental Euclidean Distance Fields for Online Quadrotor Motion Planning, Luxin Han, Fei Gao*, Boyu Zhou, Shaojie Shen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). [paper] [code]

Flying Through A Narrow Gap Using Neural Network: An End-to-end Planning And Control Approach, Jiarong Lin, Luqi Wang, Fei Gao, Shaojie Shen, Fu Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). [paper]

Flying on Point Clouds: Online Trajectory Generation and Autonomous Navigation for Quadrotor in Cluttered Environments, Fei Gao, William Wu, Wenliang Gao, Shaojie Shen, Journal of Field Robotics (JFR). [paper] [code]

Optimal Time Allocation for Quadrotor Trajectory Generation, Fei Gao, William Wu, Jie Pan, Boyu Zhou, Shaojie Shen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). [paper] [code]

Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis PolynomialFei Gao, William Wu, Yi Lin, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2018). [paper] [code]

ACT: An Autonomous Drone Cinematography System for Action ScenesChong Huang, Fei Gao, Jie Pan, Shaojie Shen, Kwang-Ting (Tim) Cheng et al, IEEE International Conference on Robotics and Automation (ICRA 2018). [paper]

A Collaborative Aerial-Ground Robotic System for Fast Exploration, Daqian Cheng#, Luqi Wang#, Fei Gao, Fengyu Cai, Jixin Guo, Mengxiang Lin, Shaojie Shen, International Symposium on Experimental Robotics (ISER 2018). [paper]

Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP,  Fei Gao, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2017). [paper]

Real-time Monocular Dense Mapping on Aerial Robots Using Visual-Inertial Fusion, Zhenfei Yang, Fei Gao, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2017). [paper] [code]

Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex EnvironmentsFei GaoYi Lin, Shaojie Shen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017). [paper] [code]

Autonomous Aerial Navigation Using Monocular Visual-Inertial FusionYi Lin#, Fei Gao#, Tong Qin#, Wenliang Gao#, Tianbo Liu, William Wu, Zhenfei Yang, Shaojie Shen, Journal of Field Robotics (JFR). [paper]

Collaborative Air-Ground Target Searching in Complex EnvironmentsChangsheng Shen, Yuanzhao Zhang, Zimo Li, Fei Gao, Shaojie Shen, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2017). [paper]

Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Clouds, Fei Gao, Shaojie Shen, IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2016), Best Conference Paper Award. [paper]

Yi Liang(梁奕)


For Business; Collaboration; Consulting
Contact: fastfly_admin@163.com

Lun Quan (全伦)

Co-supervise
Motion planning; Autonomous navigation of drones; Optimal control

Tianyue Wu (巫天越)

September 2019 - Present
Undergraduate in Process Equipment and Control Engineering, Zhejiang University
Multi-robot Perception; Optimization

Chi Wang (王驰)

September 2020 - Present
Undergraduate in Car Engineering, Zhejiang University
Motion Planning and Control

Junxiao Lin (林俊晓)

September 2019 - Present
Undergraduate in Mechanical Engineering, Zhejiang University
Autonomous Systems

Yuan Li(李 源)

September 2022 - Present
Undergraduate in Automation, Zhejiang University
Autonomous Systems; Motion Planning; Aerial Swarm

Shuang Geng (耿爽)

May 2021 - Present
Master Candidate, ZJU College of Engineer
Motion Planning and Artificial Intelligence

Xuan Zheng (郑萱)

November 2021 - Present
Master Candidate, ZJU College of Control science and engineering
Motion Planning and Object Tracking

Xuankang Wu(吴选康)

July 2022 - Present
Undergraduate in Robot Engineering, Northeastern University
Multi-Sensor Fusion, VIO , Motion Planning

Kaixin Chai(柴凯昕)

October 2022 - Present
Undergraduate in Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University
SLAM, Motion Planning, Control

Ze Wang (王泽)

Master Candidate in Optical Engineering, Zhejiang University.
Autonomous Systems, Motion Planning, SLAM

Jialiang Hou(侯嘉良)

PhD Candidate in Computer Application Technology, Fudan University
Aerial Swarm; Motion Planning

Zhixin Wang (王知信)

Undergraduate in Communication Engineering, Shangdong University
Reinforcement Learning; Embedded Systems

Ximin LYU (吕熙敏)

Associate Professor of School of Intelligent Systems Engineering, Sun Yat-Sen University
Aerial Robots; Mobile Robots; Dynamic Control; VTOL