Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads

Haokun Wang*, Haojia Li*, Boyu Zhou, Fei Gao, Shaojie Shen.(*equal contrib.)

IEEE Transactions on Robotics (T-RO), 2024.

In this paper, we propose a novel impact-aware planning and control framework that resolves potential impacts caused by motion mode switching.

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AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Paylaod Transportation

Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu Zhou, Shaojie Shen

IEEE Robotics and Automation Letters (RA-L), 2023

• A real-time planning method to generate smooth trajectories.
• An adaptive NMPC with a hierarchical disturbance compensation strategy to overcome unknown external perturbations.

FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing

Botao He*, Haojia Li*, Siyuan Wu, Dong Wang, Zhiwei Zhang, Qianli Dong, Chao Xu, Fei Gao (*equal contrib.)

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

Event camera based low-latency fast-moving dynamic object detection, and object trajectory prediction.

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, Shaojie Shen

IEEE International Conference on Robotics and Automation (ICRA), 2024

Best UAV Paper Award Finalist

A skeleton-guided planning framework tailored for fast coverage of large and complex 3D scenes, which results in the generation of high-quality coverage paths and high computational efficiency.

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PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

Chen Feng, Haojia Li, Fei Gao, Boyu Zhou, Shaojie Shen.

IEEE International Conference on Robotics and Automation (ICRA), 2023

A prediction-boosted planning framework that can efficiently reconstruct high-quality 3D models for the target areas in unknown environments with a single flight.

Microsaccade-inspired event camera for robotics

Botao He, Ze Wang, Yuan Zhou, Jingxi Chen, Chahat Deep Singh, Haojia Li, Yuman Gao, Shaojie Shen, Kaiwei Wang, Yanjun Cao, Chao Xu, Yiannis Aloimonos, Fei Gao, Cornelia Fermüller

Science Robotics, 2024

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Swarm of micro flying robots in the wild

Xin Zhou, Xiangyong Wen, Zhepei Wang, Yuman Gao, Haojia Li, Qianhao Wang, Tiankai Yang, Haojian Lu, Yanjun Cao, Chao Xu, Fei Gao

Science Robotics, 2022

Event-VPR: End-to-End Weakly Supervised Deep Network Architecture for Visual Place Recognition Using Event-Based Vision Sensor

Delei Kong, Zheng Fang, Kuanxu Hou, Haojia Li, Junjie Jiang, Sonya Coleman, Dermot Kerr

IEEE Transactions on Instrumentation and Measurement (TIM), 2022