Publications

See our recent publications here. (* for equal contribution and # for the corresponding author)

2024

lmpact-Aware Planning and Control for Aerial Robots with Suspended Payloads
Haokun Wang, Haojia Li, Boyu Zhou#, Fei Gao#, Shaoiie Shen
IEEE Transactions on Robotics (T-RO 2024)

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights
Xinyi Chen, Yichen Zhang, Shaojie Shen and Boyu Zhou#
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, Shaojie Shen, and Boyu Zhou#
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
Jinqi Jiang*, Guiyong Zheng*, 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: An aerial swarm system with decentralized omni-directional visual-inertial-uwb state estimation
Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Shaojie Shen
IEEE Transactions on Robotics (T-RO 2022)

Fast Sparse 3D Topological Skeleton Generation for 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)