Microsaccade-inspired event camera for robotics , Botao He, Ze Wang, Yuan Zhou, Jingxi Chen, Chahat Deep Singh, Haojia Li, Yuman Gao, Kaiwei Wang, Yanjun Cao, Chao Xu, Yiannis Aloimonos, Fei Gao, Cornelia Fermüller. Science Robotics ( SR ). [paper] [video]

Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization , Tianyue Wu, Fei Gao. Robotics: Science and System ( RSS ).

A Novel Bi-modal Bi-copter Robot for Adaptive Locomotion in Air and Diverse Terrain , , Junxiao Lin, Ruibin Zhang, Neng Pan, Chao Xu, Fei Gao. Robotics: IEEE Robotics and Automation Letter (RA-L).

Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes , jingping Wang, Tingrui Zhang, Qixuan Zhang, Chuxiao Zeng, jingyi Yu, Chao Xu, Lan Xu, Fei Gao. ACM Transactions on Graphics ( ACM TOG ). [video]

Trajectory Generation for Vehicle with Stable Time , Zhichao Han, Mengze Tian, Fei Gao. Technical Report. [preprint]

Impact-Aware Planning and Control for AerialRobots with Suspended Payloads , Haokun Wang, Haojia Li, Boyu Zhou, Fei Gao, Shaojie Shen, IEEE Transactions on Robotics ( T-RO ). [video]

Active Collision-Based Navigation for Wheeled Robots , Jingjing Li, Jialin Ji, Qianhao Wang, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2024 ). [video]

Simultaneous Time Synchronization and Mutual Localization for Multi-robot System , Xiangyong Wen, Yingjian Wang, Xi Zheng, Kaiwei Wang, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2024 ). [paper] [video]

A Trajectory-based Flight Assistive System for Novice Pilots in Drone Racing Scenario , Yuhang Zhong, Guangyu Zhao, Qianhao Wang, Guangtong Xu, ChaoXu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2024 ). [video]

Bat Planner: Aggressive Flying Ball Player , Huan Yu, Jie Tu, Pengqin Wang, Zhi Zheng, Kewen Zhang, Guodong Lu, Fei Gao, Jin Wang, IEEE Robotics and Automation Letter (RA-L with ICRA 2024 ). [paper]

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation , Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu Zhou, Shaojie Shen, IEEE Robotics and Automation Letter (RA-L with ICRA 2024 ). [paper] [video]

Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios , Yuman Gao, Jialin Ji, Qianhao Wang, Rui Jin, Yi Lin, Zhimeng Shang, Yanjun Cao, Shaojie Shen, Chao Xu, Fei Gao, IEEE Transactions on Robotics (T-RO ). [paper] [video]

An Efficient Spatial-Temporal Traiectory Planner for Autonomous Vehicles in Unstructured Environments , Zhichao Han, Yuwei Wu, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li, Changjia Ma, Chao Xu, Shaojie Shen, Fei Gao, IEEE Transactions on Intelligent Transportation Systems (T-ITS ). [paper] [video]

Collaborative Planning for Catching and Transporting Objects in Unstructured Environments , Liuao Pei, Junxiao Lin, Zhichao Han, Lun Quan, Yanjun Cao, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L ). [paper] [video]

Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments , Lun Quan, Longji Yin, Tingrui Zhang, Mingyang Wang, Ruilin Wang, Sheng Zhong, Yanjun Cao, Chao Xu, Fei Gao, IEEE Transactions on Robotics (T-RO ). [paper] [video]

Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization , Tingrui Zhang, Jingping Wang, Chao Xu, Alan Gao, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Robo-centric ESDF: A Fast and Accurate Whole-body Collision Evaluation Tool for Any-shape Robotic Planning , Shuang Geng, Qianhao Wang, Lei Xie, Chao Xu, Yanjun Cao, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Canfly: A Can-sized Autonomous Mini Coaxial Helicopter , Neng Pan, Rui Jin, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain , Long Xu, Kaixin Chai, Zhichao Han, Hong Liu, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Model-Based Planning and Control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels , Ruibin Zhang, Junxiao Lin, Yuze Wu, Yuman Gao, Chi Wang, Chao Xu, Yanjun Cao, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

CREPES: Cooperative RElative Pose Estimation System , Zhiren Xun, Jian Huang, Zhehan Li, Zhenjun Ying, Yingjian Wang, Chao Xu, Fei Gao, Yanjun Cao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Polynomial-based Online Planning for Autonomous Drone Racing in Dynamic Environments , Qianhao Wang, Dong Wang, Chao Xu, Alan Gao, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments , Changjia Ma, Zhichao Han, Tingrui Zhang, Jingping Wang, Long Xu, Chengyang Li, Chao Xu, Fei Gao, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [paper] [video]

Skywalker: a Compact and Agile Air-Ground Omnidirectional Vehicle , Neng Pan, Jinqi Jiang, Ruibin Zhang, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2023 ). [paper] [video]

Bearing-based Relative Localization for Robotic Swarm withPartially Mutual Observations , Yingjian Wang, Xiangyong Wen, Yanjun Cao, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2023 ). [paper]

Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability , Yuze Wu, Fan Yang, Ze Wang, Kaiwei Wang, Yanjun Cao, Chao Xu, Fei Gao, IEEE Robotics and Automation Letter (RA-L with IROS 2023 ). [paper] [video]

Auto-filmer: Autonomous Aerial Videography under Human Interaction , Zhiwei Zhang, Yuhang Zhong, Junlong Guo, Qianhao Wang, Fei Gao, Yanjun Cao, IEEE Robotics and Automation Letter (RA-L with IROS 2023 ). [paper] [video]

A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph , Tianyue Wu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning , Hongkai Ye, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization , Qianhao Wang, Zhepei Wang, Liuao Pei, Chao Xu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment , Jingping Wang, Long Xu, Haoran Fu, Chao Xu, Yanjun Cao, Ximin Lyu, Fei Gao, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper] [video]

Trajectory Optimization for 3D Shape-Changing Robots with Differential Mobile Base , Mengke Zhang, Chao Xu, Fei Gao, Yanjun Cao, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction , Chen Feng, Boyu Zhou, Haojia Li, Fei Gao, Shaojie Shen, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

Efficient View Path Planning for Autonomous Implicit Reconstruction , Jing Zeng, Yanxu Li, Yunlong Ran, Shuo Li, Shibo He, Fei Gao, Lincheng Li, Jiming Chen, Qi Ye, IEEE International Conference on Robotics and Automation (ICRA 2023 ). [paper]

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 cameras, Wenliang 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 Environments, Fei 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 Polynomial, Fei 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 Scenes, Chong 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 Environments, Fei Gao, Yi Lin, Shaojie Shen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017). [paper] [code]

Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion, Yi 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 Environments, Changsheng 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]