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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

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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, Qianhao Wang, 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).

 

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]

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]

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]

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]

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]

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]

Yongchao Wang (王永超)

Post-doc Yongchao Wang (王永超) Master and PhD in School of Aeronautic Science and Engineering, Beihang University, 2021 Interests: Nonlinear control, Multi-agent RL

Can Cui (崔粲)

PhD Students Can Cui (崔粲) PhD Candidate, IEEE Member MS in Computer Science from the University of Hong Kong 2015 BE in Automation, Zhejiang University, 2012 Interests: flight control, AI in robotics

Zhepei Wang (汪哲培)

PhD Students Zhepei Wang (汪哲培) Personal Website PhD Candidate BE in Automation, Zhejiang University, 2017 Interests: motion planning, autonomous systems

Kunyi Zhang (张焜怡)

PhD Students Kunyi Zhang (张焜怡) PhD Candidate BE in Mechanical Engineering & BSc in Applied Mathematics, East China University of Science & Technology, 2016 Interests: visual inertial odometry

Hongkai Ye (叶鸿凯)

PhD Students Hongkai Ye (叶鸿凯) Personal Website PhD Candidate BE Automation, Zhejiang University, 2017 Interests: robot navigation (mainly in motion planning)

Jiaming Liang (梁家铭)

PhD Students Jiaming Liang (梁家铭) PhD Candidate BE in Automation, Zhejiang University, 2017 Interests: smart imaging, deep learning, fluid robotics

Hanlin Wang (王瀚林)

PhD Students Hanlin Wang (王瀚林) PhD Candidate MS in Mechanical & Electrical Engineering, Hainan University, 2018 BE in Electrical Engineering & Automation, Huazhong University of Science & Technology, 2015 Interests: smart imaging, deep learning, microfluidics

Ziming Ding (丁梓明)

PhD Students Ziming Ding (丁梓明) PhD Candidate BE in Automation, Hunan University, 2018 Interests: robotic navigation

Lun Quan (全伦)

PhD Student Lun Quan (全伦) google scholar PhD Candidate BE in Control Science, Zhejiang University, 2019 Interests: distributed systems, swarm intelligence, and decentralized planning for aerial swarm robotics Hello, I’m Lun Quan, and I’m currently pursuing my Ph.D. in Automation […]

Yuman Gao (高钰满)

PhD Students Yuman Gao (高钰满) PhD Candidate BE in Automation, Zhejiang University, 2021 Interest: autonomous navigation of drones

Jialin Ji (纪佳林)

PhD Student Jialin Ji (纪佳林) github.io PhD Candidate BE in Mechatronic Engineering, Zhejiang University, 2019 Interests: autonomous vehicle racing, trajectory planning Hello, I’m Jialin Ji, and I’m currently pursuing my PhD in Automation under the supervision of Fei Gao, at […]

Ze Wang (王泽)

Visiting Students Ze Wang (王泽) Master Candidate in Optical Engineering, Zhejiang University. BE in Optoelectronic information science and Engineering, Changchun university of science and technology, 2020. Research Interest: Autonomous Systems, Motion Planning, SLAM

Jialiang Hou(侯嘉良)

Visiting Students Jialiang Hou(侯嘉良) PhD Candidate in Computer Application Technology, Fudan University BE in Process Equipment and Control Engineering, East China University of Science & Technology, 2019 Research Interest: Aerial Swarm, Motion Planning

Tianyu Liu (刘天宇)

Visiting Students Tianyu Liu (刘天宇) PhD candidate in Mechanical Engineering, The University of Hong Kong, 2019 BE in Mechanical Engineering, Xi’an Jiaotong University, 2018 Research Interest: motion planning

Siqi Li (李思祈)

Visiting Students Siqi Li (李思祈) Master Candidate in Electronic Information ,Zhejiang University BE in Robot Science and Engineering,Northeastern University,2020 Research Interest: Motion planning ,Motion control

Botao He (何博涛)

Visiting Students Botao He (何博涛) September 2018 – Present Undergraduate study in Robot Engineering, Nanjing Institute of Technology

Qianhao Wang (王钱浩)

MPhil Students Qianhao Wang (王钱浩) Master Candidate BE in Ocean Engineering & Technology, Zhejiang University, 2019 Interests: autonomous navigation of drones

Yang Tiankai (杨天凯)

PhD Student Yang Tiankai (杨天凯) PhD Candidate BE in Electronics Engineering, Northwestern Polytechnical University, 2019 Interests: robotic navigation

Junlong Guo (过俊龙)

MPhil Students Junlong Guo (过俊龙) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Automation, Zhejiang University of Science and Technology, 2019 Interests: UAV, trajectory planning

Dong Wang (王懂)

MPhil Students Dong Wang (王懂) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Automation, Zhejiang University, 2020

Jiangchao Zhu (朱江超)

MPhil Students Jiangchao Zhu (朱江超) Master Candidate BE in Automation, Zhejiang University, 2020 Interests: UAV mapping

Zhiwei Zhang (张智为)

MPhil Students Zhiwei Zhang (张智为) Master Candidate BE in Automation, Zhejiang University, 2020 Interests: flight control

Xiaoqi Liu (刘小奇)

MPhil Students Xiaoqi Liu (刘小奇) Master Candidate BE in Electrical Engineering, Zhejiang University, 2020 Interests: deep learning

Yiwei Chong (种奕玮)

MPhil Students Yiwei Chong (种奕玮) Master Candidate BE in Energy Engineering, Zhejiang University, 2020 Interests: control algorithm, deep learning

YuQi Cao (曹煜琪)

MPhil Students YuQi Cao (曹煜琪) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Energy Engineering, Zhejiang University, 2020 Interests: control algorithm, deep learning

Zhiren Xun (寻芝任)

MPhil Students Zhiren Xun (寻芝任) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Automation, Guangdong University of Technology, 2020

Zhichao Han (韩志超)

MPhil Students Zhichao Han (韩志超) Master Candidate BE in Electrical Engineering & Automation, Zhejiang University, 2021 Interest: path planning, object tracking

Neng Pan (潘能)

MPhil Students Neng Pan (潘能) Master Candidate BE in Automation, Zhejiang University, 2021 Interest: trajectory planning, object tracking

Yingjian Wang (王英建)

MPhil Students Yingjian Wang (王英建) Master Candidate BE in Automation, Zhejiang University, 2021

Ruibin Zhang (张瑞彬)

MPhil Students Ruibin Zhang (张瑞彬) Master Candidate BE in Mechatronics Engineering, Zhejiang University, 2021

Changjia Ma (马昌家)

MPhil Students Changjia Ma (马昌家) Master Candidate BE in Electrical Engineering & Automation, Harbin Institute of Technology, 2021 Interest: deep learning; autonomous navigation

Mengke Zhang (张孟轲)

MPhil Students Mengke Zhang (张孟轲) Master Candidate BE in College of Control science and Engineering, Zhejiang University, 2020 Interests: Planning and SLAM

Rui Jin (金锐)

MPhil Students Rui Jin (金锐)   Master Candidate BE in Mechanical Design, Manufacturing and Automation, Northwestern Polytechnical University, 2021 Interest: NeRF planning; coaxial helicopter

Wen Xiangyong (温向勇)

MPhil Students Wen Xiangyong (温向勇) Master Candidate BE in Mechatronics Engineering, Southwest Petroleum University, 2018 Interest: Motion Planning; Autonomous Navigation

Yuze Wu (吴钰泽)

MPhil Students Yuze Wu (吴钰泽) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Automation, Zhejiang University, 2021 Interest: variable structure UAV, flight control

Jingjing Li (李晶晶)

MPhil Students Jingjing Li (李晶晶) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Mechatronic Engineering, Zhejiang University, 2019 BE in Detection, Guidance and Control Technology, Northwestern Polytechnical University, 2021

Xinwei Chen(陈鑫炜)

MPhil Students Xinwei Chen(陈鑫炜) Master Candidate, ZJU College of Engineer (Base Ningbo) BE in Measurement & Control Technology and Instrument, Dalian Maritime University, 2021 Interest: Collaborative Localization

Xiufeng Zhu(朱秀锋)

MPhil Students Xiufeng Zhu(朱秀锋) Master Candidate BE in Computer Science and Technology ,Civil Aviation University of China,2018 Interests:centralized communication

Mingyang Wang (王鸣杨)

Undergraduate Students Mingyang Wang (王鸣杨)   September 2018 – Present Undergraduate study in Automation, Zhejiang University Interest: Motion Planning; Drone Aerobatics

Zhixiong Xu (徐志雄)

Undergraduate Students Zhixiong Xu (徐志雄) September 2018 – Present Undergraduate study in Automation, Zhejiang University

Chenxing Jiang (蒋辰星)

Undergraduate Students Chenxing Jiang (蒋辰星) September 2021 – Present Undergraduate study in Automation, Zhejiang University

Jingping Wang(王敬平)

Undergraduate Students Jingping Wang(王敬平) BE in Automation, Zhejiang University, 2018 Interests: embedded system, motion planning

Long Xu(徐隆)

Undergraduate Students Long Xu(徐隆) September 2018 – Present Undergraduate study in Automation, Zhejiang University Interest: motion planning, trajectory optimization

Luyuhang Duan(段陆雨航)

Undergraduate Students Luyuhang Duan(段陆雨航) Undergraduate in the Control Science Department of Zhejiang University Interests: mapping and planning in swarm robotics

Zhehan Li(李哲晗)

Undergraduate Students Zhehan Li(李哲晗) Undergraduate of Mechanical and Electronic Engineering & Automation, Zhejiang University, 2018 Interests: perceiving, modeling and localizing in robotics

Yuchen Zheng(郑宇辰)

Undergraduate Students Yuchen Zheng(郑宇辰) September 2018 – Present Undergraduate study in Automation, Zhejiang University Interest: Planning and Modeling in Robotics; Artificial Intelligence

Liuao Pei (裴刘奥)

Undergraduate Students Liuao Pei (裴刘奥) bigbird.fun September 2018 – Present Undergraduate study in Automation, Harbin Institute of Technology Interests: Mapping, Motion Planning

Yuan Zhou(周缘)

Undergraduate Students Yuan Zhou (周缘) website September 2018 – Present Undergraduate study in mechatronic engineering, Northeastern University Interests: Autonomous System,SLAM

Tingrui Zhang(张庭瑞)

Undergraduate Students Tingrui Zhang (张庭瑞) website September 2018 – Present Undergraduate study in Mechanical Engineering, Beijing Institute of Technology Interests: Optimization, Motion Planning

Sheng Zhong(钟声)

Undergraduate Students Sheng Zhong(钟声)   July 2022 – Present Undergraduate in Mechanical Engineering, Zhejiang University

Yuhang Zhong(钟宇航)

Undergraduate Students Yuhang Zhong(钟宇航)   July 2022 – Present Undergraduate in Intelligent Science and technology, Nankai University Interest: Motion planning and Tracking

Junxiao Lin (林俊晓)

Undergraduate Students Junxiao Lin (林俊晓)   July 2022 – Present Undergraduate in Mechanical Engineering, Zhejiang University Interest: Autonomous Systems

Shuang Geng (耿爽)

Research Assisstants Shuang Geng (耿爽) May 2021 – Present Master Candidate, ZJU College of Engineer BE in Automation, Hangzhou Dianzi University, 2020 Interests: Motion Planning and Artificial Intelligence

Jian Huang (黄坚)

Research Assisstants Jian Huang (黄坚) July 2021 – Present MS in Mechanical Engineering, Xi’an Jiaotong University, 2021 BE in Mechanical Engineering, Xi’an Jiaotong University, 2018 Research Interest: localization, visual-inertial odometry

Longji Yin (殷隆基)

Research Assisstants Longji Yin (殷隆基) July 2021 – Present MS in Robotics, Johns Hopkins University, 2021 BE in Automation, Zhejiang University, 2019 BA in English Literature, Zhejiang University, 2019 Research Interest: motion planning, aerial swarm

Jinghang Li (李景行)

Research Assisstants Jinghang Li (李景行) July 2021 – Present MS in Mechanical Engineering, Beijing Institute of Technology, 2021 BS in Vehicle Engineering, China Agricultural University, 2018 Research Interest: intelligent vehicles, deep learning, motion planning

Jiaying Ren (任家莹)

Research Assisstants Jiaying Ren (任家莹) August 2021 – Present BA in Journalism, Zhejiang University, 2021

Fan Yang (杨帆)

Research Assisstants Fan Yang (杨帆) Sep 2021 – Present Robotics Engineer in RoboMaster, DJI from 2017 to 2021 BE in Communication Engineering, Southern University of Science and Technology, 2017 Research Interest: Mobile Robots, Motion and Path Planning

Xuan Zheng (郑萱)

Research Assisstants Xuan Zheng (郑萱) November 2021 – Present Master Candidate, ZJU College of Control science and engineering BE in Electrical Engineering, Zhejiang University, 2019

Xuankang Wu(吴选康)

RESEARCH ASSISSTANTS 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)

RESEARCH ASSISSTANTS Kaixin Chai(柴凯昕)   October 2022 – Present Undergraduate in Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University Interest: SLAM, Motion Planning, Control

Lizi Wang (王立子)

Alumni Lizi Wang (王立子) M.S. 2021, NetEase (网易) M.S. 2021, NetEase (网易)

Xiong Kun (熊坤)

Alumni Xiong Kun (熊坤) M.S. 2020 M.S. 2020, Huawei Technologies (华为)

Shengze Cai (蔡声泽)

Alumni Shengze Cai (蔡声泽) Ph.D. 2019, Brown University, USA Ph.D. 2019, Brown University, USA

Jun Zhu (朱均)

Alumni Jun Zhu (朱均) M.S. 2019 M.S. 2019, Cainiao Network Technology (菜鸟网络)

Lei Guo (郭磊)

Alumni Lei Guo (郭磊) M.S. 2019 M.S. 2019, Hikvision Digital Technology (海康威视)

Bo Ye (叶波)

Alumni Bo Ye (叶波) M.S. 2017 Blog M.S. 2017, Cainiao Network Technology (菜鸟网络)

Zhigang Ren (任志刚)

Alumni Zhigang Ren (任志刚) Ph.D. 2012 – 2016, Assistant Professor Ph.D. 2012 – 2016 Assistant Professor, Guangdong University of Technology (广东工业大学自动化学院)

Tao Han (韩滔)

Alumni Tao Han (韩滔) M.S. 2016, PhD M.S. 2016 PHD student on robotics in the City University of Hong Kong (香港城市大学)

State Estimation

Introduction Visual odometry has made tremendous progress since Mars Exploration Rovers was exploited, but studies focus less on […]

Deep Robotic Learning

Introduction Deep learning and reinforcement learning are bringing changes into robotics. In IARC challenge, we designed a hierarchical […]

Fast Motion Planning

Introduction High-speed autonomous navigation with micro aerial vehicles (MAVs) operating in unknown dynamic environments requires the vehicles to […]

Autonomous Aerial Swarms

Introduction The agility of quadrotors enables this machine to perform single-agent autonomous navigation in unknown environments and multi-agent […]

Trajectory Generation

Introduction AM-Traj: A waypoint-based trajectory generator. This project proposes a framework for large-scale waypoint-based trajectory generation, with highlights […]

Robust Flight Control

Introduction In recent years, the evolution of quadrotor online planning makes drones fly out of laboratories and appear […]

Aerial Applications

Introduction We present systematic solutions to some aerial applications with the integration of our algorithmic researches, including state […]

Can Cui (崔粲)

PhD Candidate, IEEE Member
Interests: flight control, AI in robotics

 

Lun Quan (全伦)

PhD Candidate
Interests: motion planning, autonomous navigation of drones, optimal control

Zhichao Han (韩志超)

Master Candidate
BE in Electrical Engineering &Automation
Interest: path planning, object tracking

Jingjing Li (李晶晶)

Master Candidate
BE in Mechatronic Engineering BE in Detection,Guidance and Control Technology

Jian Huang (黄坚)

July 2021 – Present
MS BE in Mechanical Engineering
Interest: localization, visual-inertial odometry

Jinghang Li (李景行)

July 2021 – Present
MS in Mechanical Engineering
Research Interest: intelligent vehicles, deep learning, motion planning

Fan Yang (杨帆)

Sep 2021 – Present
Robotics Engineer in RoboMaster, DJI
Research Interest: Mobile Robots, Motion and Path Planning

Ze Wang (王泽)

Master Candidate
Research Interest: Autonomous Systems, Motion Planning, SLAM

Zhigang Ren (任志刚)

Ph.D. 2012 – 2016
Assistant Professor, Guangdong University of Technology (广东工业大学自动化学院)

Tao Han (韩滔)

M.S. 2016
PhD student on robotics in the City University of Hong Kong (香港城市大学)