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  • Geometrically Constrained Trajectory Optimization for Multicopters (preprint)

  • The Visual-Inertial-Dynamical UAV Dataset (preprint)

  • FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing (preprint)

  • Fast-Tracker 2.0: Improving Autonomy of Aerial Tracking with Active Vision and Target Regression (preprint)

  • EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments (ICRA 2021)

  • Mapless-Planner: A Robust and Fast Planning Framework without Map Fusion (ICRA 2021)

  • Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments (ICRA 2021)

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

  • EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors (RA-L with ICRA 2021)

  • TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors (RA-L 2020)


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


  • Alternating Minimization Based Trajectory Generation For Quadrotor Aggressive Flight (RA-L with IROS 2020)


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

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