* for the corresponding author, # for equal contributors
2021
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).
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).
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).
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).
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).
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 the IEEE International Journal of Robotics Research (IJRR). [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 cameras, Wenliang 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 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 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 Polynomial, Fei 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 Scenes, Chong 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 Environments, Fei Gao, Yi Lin, Shaojie Shen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017). [paper] [code]
Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion, Yi 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 Environments, Changsheng 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]
