浙江大学 FAST Lab – FIRE Group 研究型实习生招募 方向介绍 团队聚焦在未知、非结构环境中的集群机器人自主导航研究，特别是机器人相对定位、基于相对定位的协作导航等，致力于实现仿生级别的智能灵巧集群导航。研究成果包括去中心化、可扩展的多机器人定位系统；基于IMU和UWB的最小定位系统；基于视觉，IMU和UWB的高精度SLAM系统等。学术成果为非结构、低特征、卫星拒止等挑战场景中的自主导航提供了可靠定位支持，在国防、灾后救援等极端场景中具有重要的应用潜力。 导师介绍 曹燕军，浙江大学湖州研究院集群导航研究中心PI。博士毕业于加拿大蒙特利尔大学，博士期间前往德国图宾根大学及慕尼黑工业大学学术交流。曾带队参加深圳市“智创杯”前沿技术挑战赛锦标赛，凭借灾后救援多机器人系统获得三等奖(300万元奖励)，曾获得加拿大蒙特利尔Hackatown 智慧城市竞赛一等奖、加拿大蒙特利尔ImplementAl人工智能竞赛二等奖、欧洲宇航局PANGAEA-X项目团队贡献奖等。承担来自国家自然科学基金委、装备发展部课题，至今已发表顶级期刊及会议论文20余篇，授权发明专利2项。团队主页：http://zju-fast.com/research-group/yanjun-cao。 职位描述 参与团队有创新、有价值、有挑战的集群导航方向科研研究； 承担创新想法的设计、研究、仿真及真机实验； 撰写研究报告及学术论文。 任职要求 可连续实习时间不小于6个月； 热爱机器人，具有较强的学习能力； 机器人学、计算机科学或相关背景； 熟练使用C++，熟悉脚本语言如Python； 熟练使用Linux、ROS、Git、Docker等进行工作； 优秀的英文阅读文献能力。 待遇 生活补贴，吃喝无忧； 单人公寓，班车服务； 实验室零食，团建聚餐等福利。 联系人 曹燕军，Email: yanjunhi@zju.edu.cn / Wechat: 50760584
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June 30th, 2022 Three papers are accepted by IEEE RA-L: DIDO: Deep Inertial Quadrotor Dynamical Odometry, Kunyi Zhang, Chenxing JIANG, Jinghang Li, Sheng Yang, Teng Ma, Chao Xu, Fei Gao. Enhanced Decentralized Autonomous Aerial Swarm with Group Planning, Jialiang Hou, Xin Zhou, Zhongxue Gan, Fei Gao. Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements, Yingjian Wang, Xiangyong Wen, Longji Yin, Chao Xu, Yanjun Cao, Fei Gao.
June 30th, 2022 Eleven conference papers are accepted by IROS 2022: Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes, Zhepei Wang, Chao Xu, Fei Gao. Automatic Parameter Adaptation for Quadrotor Trajectory Planning, Xin Zhou, Chao Xu, Fei Gao. 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. Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining, Hongkai Ye, Neng Pan, Qianhao Wang, Chao Xu, Fei Gao. Real-Time Trajectory Planning for Aerial Perching, Jialin Ji, Tiankai Yang, Chao Xu, Fei Gao. Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning, Junlong Guo, Zhiren Xun, Shuang Geng, Yi Lin, Chao Xu, Fei Gao. 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. DIDO: Deep Inertial Quadrotor Dynamical Odometry, Kunyi Zhang, Chenxing JIANG, Jinghang Li, Sheng Yang, Teng Ma, Chao Xu, Fei Gao. Enhanced Decentralized Autonomous Aerial Swarm with Group Planning, Jialiang Hou, Xin Zhou, Zhongxue Gan, Fei Gao. Certifiably Optimal Mutual Localization with Anonymous Bearing Measurements, Yingjian Wang, Xiangyong Wen, Longji Yin, Chao Xu, Yanjun Cao, Fei Gao. 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.
May 4th, 2022 Our paper “Swarm of Micro Flying Robots in the Wild” was selected as the May cover of Science Robotics
February 22nd, 2022 Xin Zhou, Xiangyong Wen, Zhepei Wang, Yuman Gao, Haojia Li, Qianhao Wang, Tiankai Yang, Haojian Lu, Yanjun Cao, Chao Xu, Fei Gao’s work on “Swarm of Micro Flying Robots in the Wild” is accepted by Science Robotics for publication.
February 17th, 2022 Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao’ s work on “Geometrically Constrained Trajectory Optimization for Multicopters” is accepted by IEEE Transactions on Robotics (T-RO) for publication.
February 1st, 2022 Six conference papers are accepted by ICRA 2022: Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments, Lun Quan, Longji Yin, Chao Xu, Fei Gao. 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. The Visual Inertial-Dynamical Multirotor Dataset, Kunyi Zhang, Tiankai Yang, Ziming Ding, Chao Xu, Fei Gao. Elastic Tracker: A Spatio-temporal Trajectory Planner for Flexible Areial Tracking, Jialin Ji, Neng Pan, Chao Xu, Fei Gao. GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation, Qianhao Wang, Botao He, Zhiren Xun, Chao Xu, Fei Gao. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles, Ruibin Zhang,Yuze Wu, Lixian Zhang, Chao Xu, Fei Gao.
January 24th, 2022 Qianhao Wang, Botao He, Zhiren Xun, Chao Xu,Fei Gao’ s work on “GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation” is accepted by IEEE Robotics and Automation Letters (RA-L) for publication.
January 4th, 2022 Ruibin Zhang, Yuze Wu, Lixian Zhang, Chao Xu, Fei Gao’ s work on “Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles” is accepted by IEEE Robotics and Automation Letters (RA-L) for publication.
September 7th, 2021 Zhichao Han, Zhepei Wang, Neng Pan, Yi Lin, Chao Xu, Fei Gao’ s work on “Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing” is accepted by IEEE Robotics and Automation Letters (RA-L) for publication.