Research Group

Field Intelligent Robotics Engineering(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 Researcher 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.


Baozhe Zhang, Xinwei Chen, Zhehan Li, Giovanni Beltrame, Chao Xu, Fei Gao, Yanjun Cao. "CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control," IEEE Robotics and Automation Letter (RA-L under review). [homepage] [preprint] [video]

Zhiren Xun, Jian Huang, Zhehan Li, Zhenjun Ying, Yingjian Wang, Chao Xu, Fei Gao, Yanjun Cao. "CREPES: Cooperative RElative Pose EStimation towards Real-World Multi-Robot Systems," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023). [homepage] [preprint] [video]

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

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

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

Rui Li, Yanjun Cao, Zhenshan Bing, Hong Qiao. "An Improved Four-Pin Gripper for Robust 2.5-D Form-Closure Grasp," IEEE/ASME Transactions on Mechatronics. [paper]

Lun Quan, Longji Yin, Tingrui Zhang, Mingyang Wang, Ruilin Wang, Sheng Zhong, Yanjun Cao, Chao Xu, Fei Gao. "Formation Flight in Dense Environments," IEEE Transactions on Robotics (T-RO under review). [preprint] [video]

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

Xin Zhou, Xiangyong Wen, Zhepei Wang, Yuman Gao, Haojia Li, Qianhao Wang, Tiankai Yang, Haojian Lu, Yanjun Cao, Chao Xu, Fei Gao. "Swarm of micro flying robots in the wild," Science Robotics (SR). [paper] [video]

Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini, and Giovanni Beltrame. "On the Communication Requirements of Decentralized Connectivity Control: A Field Experiment," Distributed Autonomous Robotic Systems: 15th International Symposium, 95-107. [paper]

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]

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]

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