See our recent publications here. (* for equal contribution and # for the corresponding author)
2024
Real-time Planning for Interaction-Aware Autonomous Exploration with
an Eye-in-hand Mobile Manipulator
Mianzhi Song, Chengkai Wu, Jinni Zhou, Jie Mei, Boyu Zhou#
Submitted to International Conference on Robotics and Automation
(ICRA 2025)
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios
Shuang Geng*, Zelin Ning*, Fu Zhang, Boyu Zhou#
Submitted to IEEE Robotics and Automation Letters
(RA-L 2024)
FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance
Yichen Zhang, Xinyi Chen, Chen Feng, Boyu Zhou#, Shaojie Shen
Conditionally accepted by IEEE Transactions on Robotics (T-RO
2024)
Real-Time Efficient Environment Compression and Sharing for
Multi-Robot Cooperative Systems
Lanxiang Zheng, Kai Xu, Jinqi Jiang, Mingxin Wei, Boyu
Zhou, Hui Cheng#
IEEE Transactions on Intelligent Vehicles (T-IV
2024)
H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time
Dense Mapping Using Hierarchical Hybrid Representation
Chenxing Jiang, Yiming Luo, Boyu Zhou#, Shaojie
Shen
IEEE Robotics and Automation Letters
(RA-L 2024)
SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous
Reconstruction
Mingjie Zhang*, Chen Feng*, Zengzhi Li, Guiyong
Zheng,
Yiming Luo, Zhu Wang, Jinni Zhou, Shaojie Shen, Boyu Zhou#
Proc. of the IEEE/RSJ
International Conference on Intelligent
Robots and Systems
(IROS 2024)
Impact-Aware Planning and Control for Aerial Robots with
Suspended Payloads
Haokun Wang, Haojia Li, Boyu Zhou#, Fei
Gao#, Shaojie Shen
IEEE Transactions on Robotics
(T-RO 2024)
APACE: Agile and Perception-aware Trajectory Generation for
Quadrotor Flights
Xinyi Chen, Yichen Zhang, Boyu
Zhou# and Shaojie Shen
IEEE
International Conference on Robotics and Automation
(ICRA 2024)
Real-time Whole-body Motion Planning for Mobile Manipulators
Using Environment-adaptive Search and Spatial-temporal
Optimization
Chengkai Wu*, Ruilin Wang*, Mianzhi
Song, Fei Gao, Jie Mei, Boyu Zhou#
IEEE
International Conference on Robotics and Automation
(ICRA 2024)
FC-Planner: A Skeleton-guided Planning Framework for Fast
Aerial Coverage of Complex 3D Scenes
Chen Feng, Haojia Li, Mingjie Zhang, Xinyi Chen, Boyu Zhou#
and Shaojie
Shen
IEEE
International Conference on Robotics and Automation
(ICRA 2024)
Star-Searcher: A Complete and Efficient Aerial System for
Autonomous Target Search in Complex Unknown
Environments
Yiming Luo, Zixuan Zhuang, Neng Pan, Chen Feng, Shaojie
Shen, Fei Gao, Hui Cheng, Boyu Zhou#
IEEE Robotics and Automation Letters
(RA-L 2024)
MASSTAR: A Multi-Modal Large-Scale Scene Dataset with a
Versatile Toolchain for Surface Prediction and
Completion
Guiyong Zheng*, Jinqi Jiang*, Chen
Feng*, Shaojie Shen, Boyu Zhou#
Submitted to
IEEE/RSJ International Conference on Intelligent Robots and
Systems
(IROS 2024)
2023
RELINK: Real-time Line-of-sight-based Deployment Framework of
Multi-Robot for Maintaining a Communication Network
Lijia Xia, Beiming Deng, Jie Pan, Xiaoxun
Zhang, Peiming
Duan, Boyu Zhou, Hui Cheng
IEEE Robotics and Automation Letters (RA-L 2023)
AutoTrans: A Complete Planning and Control Framework for
Autonomous UAV Payload Transportation
Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu
Zhou#, Shaojie Shen
IEEE Robotics and Automation Letters
(RA-L 2023)
H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid
Representation
Chenxing Jiang*, Hanwen Zhang*,
Peize Liu, Zehuan Yu, Hui Cheng, Boyu Zhou#, Shaojie
Shen
IEEE Robotics and Automation Letters (RA-L
2023)
MacFormer: Map-Agent Coupled Transformer for Real-time and
Robust Trajectory Prediction
Chen Feng, Hangning Zhou, Huadong Lin, Zhigang Zhang,
Ziyao Xu, Chi Zhang, Boyu Zhou#, Shaojie Shen
IEEE Robotics and Automation
Letters
(RA-L 2023)
PredRecon: A Prediction-boosted Planning Framework for Fast
and High-quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao,Boyu
Zhou#,
Shaojie Shen
Proc. of the IEEE
International Conference on Robotics and Automation
(ICRA 2023)
RACER: Rapid Collaborative Exploration Using a Decentralized
Multi-UAV System
Boyu Zhou, Hao Xu, and Shaojie Shen
IEEE Transactions on
Robotics
(T-RO 2023)
FAEL: Fast Autonomous Exploration for Large-Scale
Environments with a Mobile Robot
Junlong Huang*, Boyu
Zhou*, Zhengping Fan, Yilin Zhu, Yingrui Jie, Longwei
Li, Hui Cheng
IEEE Robotics and Automation Letters
(RA-L 2023)
2022
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms
Hao Xu, Yichen Zhang, Boyu Zhou,
Luqi Wang, Xinjie Yao, Guotao Meng and Shaojie
Shen
IEEE Transactions on Robotics (T-RO
2022)
Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
Xinyi Chen, Boyu Zhou#, Jiarong Lin, Fu Zhang
and Shaojie Shen
Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems
(IROS 2022)
Exploration with Global Consistency Using Real-Time
Re-integration and Active Loop Closure
Yichen Zhang, Boyu Zhou#, Luqi Wang,
Shaojie
Shen
Proc. of the IEEE
International Conference on Robotics and Automation
(ICRA 2022)
2021
RAPTOR: Robust and Perception-aware Trajectory Replanning for
Quadrotor Fast Flight
Boyu Zhou, Jie Pan, Fei Gao and Shaojie Shen
IEEE
Transactions on Robotics
(T-RO 2021)
FUEL: Fast UAV Exploration using Incremental Frontier
Structure and Hierarchical Planning
Boyu Zhou, Yichen Zhang, Xinyi Chen, Shaojie Shen
IEEE Robotics and Automation Letters
(RA-L) with ICRA 2021
Estimation and Adaption of Indoor Ego Airflow Disturbance
with Application to Quadrotor Trajectory Planning
Luqi Wang, Boyu Zhou, Chuhao Liu,
Shaojie Shen
Proc. of the IEEE
International Conference on Robotics and Automation
(ICRA 2021)
2020
Teach-Repeat-Replan: A Complete and Robust System for
Aggressive Flight in Complex Environments
Fei Gao, Boyu Zhou*, Luqi
Wang*, Xin Zhou, Jie Pan, Shaojie Shen
IEEE Transactions on Robotics
(T-RO 2020) King-Sun Fu Memorial Best Paper
Award Honorable Mention
Robust Real-time UAV Replanning Using Guided Gradient-based
Optimization and Topological Paths
Boyu Zhou, Fei Gao, Jie Pan, Shaojie
Shen
Proc. of the IEEE
International Conference on Robotics and Automation
(ICRA 2020)
2019
Robust and Efficient Quadrotor Trajectory Generation for Fast
Autonomous Flight
Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie
Shen
IEEE Robotics and Automation Letters
(RA-L) with IROS 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 Letters
(RA-L) with ICRA 2019
FIESTA: Fast Incremental Euclidean Distance Fields for Online
Motion Planning of Aerial Robots
Luxin Han, Fei Gao, Boyu Zhou, Shaojie
Shen
Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems
(IROS 2019)
Temporal Scheduling and Optimization for MultiMAV
Planning
William Wu, Fei Gao, Luqi Wang, Boyu Zhou, Shaojie
Shen
International Symposium on Robotics Research
(ISRR 2019)
2018
Optimal Time Allocation for Quadrotor Trajectory
Generation
Fei Gao, William Wu, Jie Pan, Boyu Zhou, Shaojie Shen
Proc. of the
IEEE/RSJ International Conference on Intelligent
Robots and Systems
(IROS 2018)