Video

  • Generating Large Convex Polytopes Directly on Point Clouds (preprint)

  • EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors (preprint)

  • TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors (preprint)


  • CMPCC: Corridor based Model PredictiveContouring Control for Aggressive Drone Flight (ISER 2020)


  • Alternating Minimization Based Trajectory Generation For Quadrotor Aggressive Flight (RAL, IROS 2020)


  • Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments (TRO, 2020)

  • Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight (RA-L, IROS 2019)

  • FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots (IROS 2019)

  • Optimal Trajectory Generation for Quadrotor Teach-and-Repeat (RA-L, ICRA 2019)

  • Flying on Point Clouds: Online Trajectory Generation and Autonomous Navigation for Quadrotor in Cluttered Environments (JFR, 2018)

  • Optimal Time Allocation for Quadrotor Trajectory Generation (IROS 2018)

  • Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial (ICRA 2018)

  • Gradient-based Online Quadrotor Safe Trajectory Planning in Complex 3D Environments (IROS 2017)

  • Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion (JFR 2017)

  • Quadrotor Motion Planning Directly on Point Clouds (SSRR 2016 Best Paper)