Publications

Journal Paper

Yunfan REN, Fangcheng Zhu, Guozheng Lu, Yixi Cai, Longji Yin, Fanze Kong, Jiarong Lin, Nan Chen, Fu Zhang
Published by Science Robotics [Article][Youtube] [Bilibili]

Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms

Fangcheng Zhu, Yunfan REN, Longji Yin, Fanze Kong, Qingbo Liu, Ruize Xue, Wenyi Liu, Yixi Cai, Guozheng Lu, Haotian Li, Fu Zhang
Published by IEEE Transactions on Robotics (TRO) [Preprint][Youtube][Bilibili]

MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion

Haotian Li, Yuying Zou, Nan Chen, Jiarong Lin, Wei Xu, Chunran Zheng, Xiyuan Liu, Dongjiao He, Fanze Kong , Yixi Cai, Zheng Liu, Shunbo Zhou, Kaiwen Xue and Fu Zhang
Published by International Journal of Robotics Research (IJRR) [LINK]

Moving event detection from LiDAR point streams

Huajie Wu, Yihang Li, Wei Xu, Fanze Kong, Fu Zhang
Published by Nature Communications (NC) [LINK][Youtube]

Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors

Yixi Cai*, Fanze Kong*, Yunfan Ren, Fangcheng Zhu, Jiarong Lin, Fu Zhang
Published by IEEE Transactions on Robotics (TRO) [Preprint][Youtube]

Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry

Dongjiao He, Wei Xu, Nan Chen, Fanze Kong, Chongjian Yuan, Fu Zhang
Published by Advanced Intelligent Systems (AIS) [Preprint][Youtube][Bilibili]

Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights

Guozheng Lu, Yixi Cai, Nan Chen, Fanze Kong, Yunfan Ren, Fu Zhang
Accepted by International Journal of Robotics Research (IJRR) [Preprint][Youtube][Bilibili]

MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs

Fanze Kong, Xiyuan Liu, Benxu Tang, Jiarong Lin, Yunfan Ren, Yixi Cai, Fangcheng Zhu, Nan Chen, Fu Zhang
Published by IEEE Robotics and Automation Letters (RA-L) [Preprint][Youtube][Bilibili]

Nan Chen, Fanze Kong, Wei Xu, Yixi Cai, Haotian Li, Dongjiao He, Youming Qin, Fu Zhang
Published by Science Robotics [Preprint][Youtube][Bilibili]

Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment

Xiyuan Liu, Zheng Liu, Fanze Kong, Fu Zhang
Published by IEEE Robotics and Automation Letters (RA-L), presented on IROS 2023 [Preprint][Youtube][Bilibili]

Avoiding Dynamic Small Obstacles With Onboard Sensing and Computation on Aerial Robots

Fanze Kong*, Wei Xu*, Yixi Cai, Fu Zhang
Published by IEEE Robotics and Automation Letters (RA-L) with IROS 2021 [Preprint][Youtube][Bilibili]

Conference Paper

Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV

Nan Chen*, Fanze Kong*, Haotian Li, Jiayuan Liu, Ziwei Ye, Wei Xu, Fangcheng Zhu, Ximin Lyu, Fu Zhang
Published by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Preprint][Youtube]
Recieved the IROS 2023 Best Paper Award on Robot Mechanisms and Design
Selected as the Best Paper Award Finalists in 2023 IROS.

Decentralized Swarm Trajectory Generation for LiDAR-based Aerial Tracking in Cluttered Environments

Longji Yin, Fangcheng Zhu, Yunfan Ren, Fanze Kong, Fu Zhang
Published by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Youtube][Bilibili]
Selected as the Best Paper Award Finalists in 2023 IROS.

HALO: A Safe, Coaxial, and Dual-Ducted UAV without Servo

Haotian Li, Nan Chen, Fanze Kong, Yuying Zou, Shenji Zhou, Dongjiao He, Fu Zhang
Published by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Bilibili]

Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres

Benxu Tang, Yunfan Ren, Fangcheng Zhu, Rui He, Siqi Liang, Fanze Kong, Fu Zhang
Published by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Preprint][Youtube][Bilibili]

Decentralized LiDAR-inertial Swarm Odometry

Fangcheng Zhu, Yunfan Ren, Fanze Kong, Huajie Wu, Siqi Liang, Nan Chen, Wei Xu, Fu Zhang
Published by 2023 International Conference on Robotics and Automation (ICRA) [Preprint][Youtube][Bilibili]