Autonomous localization and navigation, as an essential research area in robotics, has a
broad scope of applications in various scenarios. To widen the utilization environment and …

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously
in unknown environments. However, high-speed navigation still remains a significant …

Robust and accurate visual-inertial estimation is crucial to many of today's challenges in
robotics. Being able to localize against a prior map and obtain accurate and drift-free pose …

Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots
since it can easily query the distance and gradient information against obstacles. Fast …

In this article, we propose a complete and robust system for the aggressive flight of
autonomous quadrotors. The proposed system is built upon on the classical teach-and …

With the fast and unstoppable evolution of robotics and artificial intelligence, effective
autonomous navigation in real-world scenarios has become one of the most pressing …

Confined and subterranean areas are common in many civilian and industrial sites,
although they are hazardous for humans given the presence of noxious gases, extreme …

Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor
trajectory replanning. However, it suffers from local minima, which is not only fatal to safety …

We propose and experimentally demonstrate a reactive planning system for bipedal robots
on unexplored, challenging terrain. The system includes: a multilayer local map for …

This paper presents a novel approach for autonomous cooperating UAVs in search and
rescue operations in subterranean domains with complex topology. The proposed system …