Research Group

Field Intelligent Robotics Engineerng(FIRE)

Research Areas

  • UWB-based localization
  • Vision-inertial-ranging fusion
  • Distributed scheduling
  • Cooperative localization
  • Swarm robots
  • Wheeled robots
  • Tracked robots
  • Drones
  • IoT

principle investigator

Yanjun Cao (曹燕军)

PhD | Associated Research of the FAST Lab

Yanjun Cao is currently a researcher at the Huzhou Institute of Zhejiang University, PI in the Center of Autonomous Navigation for Swarm Robotics. He received the Ph.D. degree in computer engineering from the Université de Montréal, Polytechnique Montréal in 2020, supervised by Prof. Giovanni Beltrame. From 2018 to 2019, he visited the University of Tübingen (Prof. Andreas Zell’s Lab) and the Technical University of Munich (Prof. Alois Knoll’s Lab) for six months and one year respectively. In 2020, he led the team to participate in the Advanced Technology & Engineering Challenge (A-TEC) and won the third prize of 3 million CNY. His research focuses on the key challenges in multi-robot systems, including the collaborative localization, perception, communication, and system organization, from multiple robots to swarms.


Yanjun Cao, Chao Chen, David St-Onge, and Giovanni Beltrame. "Distributed TDMA for Mobile UWB Network Localization," in IEEE Internet of Things Journal, vol. 8, no. 17, pp. 13449-13464, 1 Sept.1, 2021, doi: 10.1109/JIOT.2021.3066243. (IF:11.7). [paper]

Yanjun Cao and Giovanni Beltrame, " VIR-SLAM: visual, inertial, and ranging SLAM for single and multi-robot systems," in Autonomous Robots 45, 905–917 (2021). [paper]

Yanjun Cao, Chenhao Yang, Rui Li, Alois Knoll, Giovanni Beltrame. “Accurate position tracking with a single UWB anchor,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 2344–2350, IEEE, May 2020. [paper] [code]

Rui Li, Yingbai Hu, Yanjun Cao, Mengyao Li. A Framework for the Integration of Coarse Sensing Information and Environmental Constraints. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (pp. 1348-1353). [paper]

Yanjun Cao, Giovanni Beltrame and David St-Onge. “Collaborative localization and tracking with minimal infrastructure,” in 2020 18th IEEE International New Circuits and Systems Conference (NEWCAS), pp. 114–117, IEEE, 2020 [paper]

St-Onge, D., Kaufmann, M., Panerati, J., Ramtoula, B., Cao, Y., Coffey, E. B., & Beltrame, G. (2019). Planetary exploration with robot teams. IEEE Robotics & Automation Magazine. [paper]

Yanjun Cao, Meng Li, Ivan Svogor, Shaoming Wei, and Giovanni Beltrame. Dynamic range-only localization for multi-robot systems. IEEE Access, 6:46527–46537, 2018. [paper]

Yanjun Cao, Chenhao Yang, Andreas Zell, and Giovanni Beltrame, Continuous Integration for Multi-Robot Systems, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018 (Poster)

Yanjun Cao, Leng Yuquan, et al. 360botG2—An Improved Unit of Mobile Self-assembling Modular Robotic System Aiming at Exploration in Real World [C], the 41st Annual Conference of the IEEE Industrial Electronics Society, Yokohama, Japan. 2015. [paper]

Yanjun Cao, Wang Hongguang, Chang Yong, etc. A Entanglement-Clearing Robot for Power Transmission Line with Composite Clearing Tool[C] , the 5th IEEE-CYBER, Shenyang, 2015, pp.591-596. [paper]

曹燕军, 葛为民, 张华瑾. 一种新型模块化自重构机器人结构设计与仿真研究. 机器人, 2013,35(5): 568-575,606.

Yanjun Cao, GE Weimin, ZHANG Huajin. Structure Design and Simulation Analysis of an Innovative Modular Self-Reconfigurable Robot-360bot[J]. ROBOT, 2013,35(5): 568-575,606. [paper]

Shuang Geng (耿爽)

May 2021 – Present
Master Candidate
Interests: Motion Planning and Artificial Intelligence