I am a fourth-year Ph.D. Candidate at Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, supervised by Dr. Fu Zhang and co-supervised by Prof. James Lam. Previsouly I received my Bachelor’s Degree in School of Automation Science and Electrical Engineering, Beihang University (formerly known as Beijing University of Aeronautics and Astronautics) in July, 2020.

My recent research mainly focuses on LiDAR-based mapping with applications on Robotics. I am deeply interested in exploring elegant representations of the world, which would definitely unlock the boundless possibilities in Robotics.

I am currently seeking a postdoctoral position to further my journey in the field of LiDAR mapping or any related research. I warmly welcome any opportunity in this domain and would be delighted to discuss potential collaborations. Please feel free to contact me if you are interested in exploring my research further.

News

• 2024.05.03： It is my great honor to be accepted as a member of the 30-strong cohort of the RSS Pioneer Workshop 2024.
• 2023.12.26： Our paper “MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion” is accepted for publication in International Journal of Robotics Research (IJRR)[Link].
• 2023.09.30: Our paper “Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors” is accepted for publication in Transactions on Robotics (TRO). [Link]
• 2023.09.19:
  • Our paper “Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights” is accepted for publication in International Journal of Robotics Research (IJRR). [Link]
  • Our paper “ImMesh: An Immediate LiDAR Localization and Meshing Frameworks” is accepted for publication in Transactions on Robotics (TRO). [Link]
• 2023.06.30: Our paper “Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servoless Bi-copter,” is selected as the Best Paper Award Finalist in IEEE/ASME Transactions on Mechatronics (TMECH).
• 2023.03.15: Our paper “A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation” is published on and visually featured by Science Robotics. [Link]

Selected Research

• Cai, Y., Kong F., Ren Y., Zhu F., Lin J., & Zhang, F., “Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors” in IEEE Transactions on Robotics (TRO), 2023. [Link] [Github] [Video]
• Lu, G., Cai, Y., Chen, N., Kong, F., Ren, Y., & Zhang, F., “Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights” in International Journal of Robotics Research (IJRR), 2023. [Link] [Video]
• Lin, J., Yuan, C., Cai, Y., Li, H., Zou, Y., Hong, X., & Zhang, F. (2023). “Immesh: An immediate lidar localization and meshing framework.” in IEEE Transactions on Robotics (TRO), 2023. [Link] [Github] [Video]

• Chen, N., Kong, F., Xu, W., Cai, Y., Li, H., He, D., Qin, Y. & Zhang, F. “A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation,” in Science Robotics, 2023. [Link] [Video]

• Xu, W., Cai, Y. (co-first author), He, D., Lin, J., & Zhang, F, “FAST-LIO2: Fast Direct LiDAR-Inertial Odometry” in IEEE Transactions on Robotics (TRO), 2022. [Link] [Github(1.8k stars)] [Video]
• Cai, Y., Xu, W., & Zhang, F, “ikd-Tree: An Incremental KD Tree for Robotic Applications”. [Link] [Github] [Video]