Fei Gao

Research Interest

Aerial Robotics, Motion Planning and Control, Trajectory Optimization, Applied Convex Optimization, Quadrotor Autonomous Navigation, Swarm, Autonomous Driving.

Project List

Optimization-based online motion planning and trajectory generation in cluttered static environments for aerial and ground robots.
Swarm behavior and optimal solution for heterogeneous quadrotor teams.
Autonomous navigation and laser-based SLAM on aerial vehicles.
Autonomous aerial videography using quadrotor.
UAV-UGV collaborative exploration, mapping, and pathfinding for search and rescue applications (leading undergraduate project).

Source Code

GTOP: Gradient-Based Trajectory Optimizer by Fei Gao and Boyu Zhou.

A ROS-package for piecewise polynomial trajectory optimization written in C++. Details can be found in the related paper Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments.

Btraj: Bezier-Curve-Based Trajectory Generator by Fei Gao

Btraj is an online UAV planning framework used to generate safe, dynamically feasible trajectories in previous unknown environments. It can be divided as front-end path finding module and back-end trajectory optimization module. In the front-end, we provide two alternates: Fast Marching*(FM*) on a velocity field and A* on a pure grid map. A flight corridor consists of cubes are generated based on the path. In the back-end, we utilize properties of Bezier curve to confine the piecewise Bezier curves entirely within the corridor and dynamical limits. Details can be found in the related paper Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial.

More source code packages for other paper will be released soon.

Publication List

Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Clouds, Fei Gao and Shaojie Shen, 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2016), Best Conference Paper Award.

Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP, Fei Gao and Shaojie Shen, 2017 IEEE International Conference on Robotics and Automation (ICRA 2017).

Real-time Monocular Dense Mapping on Aerial Robots Using Visual-Inertial Fusion, Zhenfei Yang, Fei Gao, and Shaojie Shen, 2017 IEEE International Conference on Robotics and Automation (ICRA 2017).

Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments, Fei Gao, Yi Lin and Shaojie Shen, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017).

Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion, Yi Lin*, Fei Gao*, Tong Qin*, Wenliang Gao*, Tianbo Liu, William Wu, Zhenfei Yang and Shaojie Shen, ( * for equal contribution ), 2017 Journal of Field Robotics (JFR).

Collaborative Air-Ground Target Searching in Complex Environments, Changsheng Shen, Yuanzhao Zhang, Zimo Li, Fei Gao and Shaojie Shen, 2017 Symposium on Safety, Security, and Rescue Robotics (SSRR 2017).

Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial, Fei Gao, William WU, Yi Lin, Shaojie Shen, 2018 IEEE International Conference on Robotics and Automation (ICRA 2018). (Full Text)

ACT: An Autonomous Drone Cinematography System for Action Scenes, Chong Huang, Fei Gao, Jie Pan, Shaojie Shen, Kwang-Ting (Tim) Cheng et al, 2018 IEEE International Conference on Robotics and Automation (ICRA 2018).