publication

* for the corresponding author,  # for equal contributors

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 2022), 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 2022), under review.

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), under review.[preprint]

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning, Hongkai Ye, Chao Xu, Fei Gao*, IEEE International Conference on Robotics and Automation (ICRA 2022), 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 2022), 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]

Efficient Sampling-based Kinodynamic Planning with Regional Optimization and Bidirectional Search for Multirotors, Hongkai Ye, Neng Pan, Qianhao Wan, Chao Xu, Fei Gao*, IEEE Robotics and Automation Letter (RA-L), 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]

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).[preprint]

External Forces Resilient Safe Motion Planning for Quadrotor, Yuwei Wu, Ziming Ding, Chao Xu, Fei Gao*, 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*, 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*, 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*, 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*, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao*, submitted to IEEE Transactions on Robotics (TRO). [preprint] [code]

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).

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). [preprint] [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). [preprint] [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). [preprint]

EVA-Planner: Environmental Adaptive Quadrotor Planning, Lun Quan, Zhiwei Zhang, Chao Xu, Fei Gao*, IEEE International Conference on Robotics and Automation (ICRA 2021). [preprint] [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). [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). [preprint]

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

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). [preprint] [code]

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). [preprint]

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). [preprint] [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 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

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 GaoLuqi 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 IROS2019 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]

2018

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]

2017

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]

2016

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]