(2026). Memory-efficient boundary map for large-scale occupancy grid mapping. IJRR.
A compact occupancy grid representation that stores only boundary cells, enabling memory-efficient large-scale mapping while preserving the geometric fidelity needed for downstream planning.
(2026). Learning Agile Quadrotor Flight in the Real World. RSS.
A real-world reinforcement-learning approach for agile quadrotor flight, accepted to Robotics: Science and Systems (RSS) 2026.
(2025). Safety-assured High-speed Navigation for MAVs. Science Robotics.
High-speed and safe autonomous navigation for MAVs in unknown environments with fully onboard LiDAR-centric sensing and computation to achieve high-speed flights over 20 m/s
(2025). Autonomous Tail-Sitter Flights in Unknown Environments. T-RO.
Maybe the first autonomous tailsitter eVTOL that can avoid obstacles in unknown environments with onboard sensing and computation and flying at a high-speed over 15 m/s.
(2024). Real-time Bandwidth-efficient Occupancy Grid Map Synchronization for Multi-Robot Systems. In IROS 2024.
Robot swarms are increasingly being applied in various domains. However, due to the inherent limitation imposed by low real-time communication bandwidth, the synchronization of environmental information among multiple robots remains a persistent and challenging problem in prac...
(2024). Rog-map: An efficient robocentric occupancy grid map for large-scene and high-resolution lidar-based motion planning. In IROS 2024.
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR with OGMs. To this end, we propose ROG...
(2024). Large-Scale Multi-Session Point-Cloud Map Merging. RA-L.
Autonomous flight for quadrotors in environments with suddenly appearing objects and disturbances still faces significant challenges. In this work, we propose an integrated planning and control framework called IPC. Specifically, we design a framework consisting of a lightweig...
(2024). Fast-livo2: Fast, direct lidar-inertial-visual odometry. T-RO.
Fast, direct and tightly-coupled LiDAR-inertial-visual odometry.
(2024). Swarm-LIO2: Decentralized Efficient LiDAR-Inertial Odometry for Aerial Swarm Systems. T-RO.
Decentralized, robust and efficient LiDAR-inertial odometry for a swarm of aerial robots with centimeter-level accuracy/
(2023). Perch a Quadrotor on Planes by the Ceiling Effect. In CASE 2023.
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing work, this perching method does not req...
(2023). Online Whole-Body Motion Planning for Quadrotor using Multi-Resolution Search. In ICRA 2023.
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full pose planning and normal areas requiri...
(2023). Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights. IJRR.
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic models, which lays a foundation for g...
(2023). Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry. In ICRA 2023.
Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescue. This paper proposes Swarm-LIO - a fully decentralized state estimation method for aerial swarm...
(2023). Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments Using Occlusion-Free Spheres. In IROS 2023.
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for overall exploration efficiency. In recent y...
(2023). Decentralized swarm trajectory generation for lidar-based aerial tracking in cluttered environments. In IROS 2023.
Aerial tracking with multiple unmanned aerial vehicles (UAVs) has wide potential in various applications. However, the existing works for swarm tracking typically lack the capability of maintaining high target visibility in cluttered environments. To address this deficiency, w...
(2023). Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances. RA-L.
Autonomous flight for quadrotors in environments with suddenly appearing objects and disturbances still faces significant challenges. In this work, we propose an integrated planning and control framework called IPC. Specifically, we design a framework consisting of a lightweig...
(2023). MARSIM: A Light-Weight Point-Realistic Simulator for LiDAR-Based UAVs. RA-L.
The emergence of LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing navigation safety and computation efficiency. Yet the successful developments of LiDAR-based UAVs must rely on extensive simulations. Existing simulators c...
(2023). Occupancy grid mapping without ray-casting for high-resolution lidar sensors. T-RO.
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution light detection and ranging (LiDAR) sensors, termed D-Map. The f...
(2023). Immesh: An immediate lidar localization and meshing framework. T-RO.
In this article, we propose a novel light detection and ranging (LiDAR)(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real time. This proposed framework termed immediately meshing (ImMesh) comprises four tightly-coupl...
(2022). Bubble planner: Planning high-speed smooth quadrotor trajectories using receding corridors. In IROS 2022.
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion planning algorithm based on the corrid...
(2022). Robust Real-time LiDAR-inertial Initialization. In IROS 2022.
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information may not be always available in customi...
(2021). Vision-encoder-based Payload State Estimation for Autonomous MAV With a Suspended Payload. In IROS 2021.
Autonomous delivery of suspended payloads with MAVs has many applications in rescue and logistics transportation. Robust and online estimation of the payload status is important but challenging especially in outdoor environments. The paper develops a novel real-time system for...