无人系统与自主计算实验室

Robotics Publications

2021, 202020192018201720162015

2021

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, 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).

2020

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]

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]

2019 

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]

2018 

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]

2017 

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]

2016 

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]

2015 

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]