ikd-Tree: An Incremental KD Tree for Robotic Applications
Cai, Y., Xu, W., & Zhang, F. (2021). ikd-tree: An incremental kd tree for robotic applications. arXiv preprint arXiv:2102.10808.
Curriculum Vitae
Education
- Exange Study in Lund University, 2019
- B.Eng. in Automation, Beihang University, 2020
- Ph.D in Mechanical Engineering, University of Hong Kong, 2024 (expected)
Publications
Avoiding Dynamic Small Obstacles with Onboard Sensing and Computation on Aerial Robots
F. Kong, W. Xu, Y. Cai and F. Zhang, Avoiding Dynamic Small Obstacles With Onboard Sensing and Computation on Aerial Robots," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7869-7876, Oct. 2021, doi: 10.1109/LRA.2021.3101877."
Robots’ State Estimation and Observability Analysis Based on Statistical Motion Models
W. Xu, D. He, Y. Cai and F. Zhang, Robots' State Estimation and Observability Analysis Based on Statistical Motion Models," in IEEE Transactions on Control Systems Technology, vol. 30, no. 5, pp. 2030-2045, Sept. 2022, doi: 10.1109/TCST.2021.3133080."
FAST-LIO2: Fast Direct Lidar-Inertial Odometry
W. Xu, Y. Cai, D. He, J. Lin and F. Zhang, "FAST-LIO2: Fast Direct LiDAR-Inertial Odometry," in IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2053-2073, Aug. 2022, doi: 10.1109/TRO.2022.3141876.
Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servoless Bi-copter
Y. Qin, N. Chen, Y. Cai, W. Xu and F. Zhang, Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servoless Bi-copter," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4304-4315, Dec. 2022, doi: 10.1109/TMECH.2022.3153587."
A Self-rotating, Single-actuated UAV with Extended Sensor Field of View for Autonomous Navigation
Chen, N., Kong, F., Xu, W., Cai, Y., Li, H., He, D., ... & Zhang, F. (2023). A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation. Science Robotics, 8(76), eade4538.
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
Kong, F., Liu, X., Tang, B., Lin, J., Ren, Y., Cai, Y., ... & Zhang, F. (2023). MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs. IEEE Robotics and Automation Letters, 8(5), 2954-2961.
Immesh: An immediate lidar localization and meshing framework
Lin, J., Yuan, C., Cai, Y., Li, H., Zou, Y., Hong, X., & Zhang, F. (2023). Immesh: An immediate lidar localization and meshing framework. arXiv preprint arXiv:2301.05206.
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
Lu, G., Cai, Y., Chen, N., Kong, F., Ren, Y., & Zhang, F. (2022). Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights. arXiv preprint arXiv:2212.11552.
Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors
Y. Cai, F. Kong, Y. Ren, F. Zhu, J. Lin and F. Zhang, "Occupancy Grid Mapping Without Ray-Casting for High-Resolution LiDAR Sensors," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2023.3323936.
MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion
Haotian Li and Yuying Zou and Nan Chen and Jiarong Lin and Xiyuan Liu and Wei Xu and Chunran Zheng and Rundong Li and Dongjiao He and Fanze Kong and Yixi Cai and Zheng Liu and Shunbo Zhou and Kaiwen Xue and Fu Zhang
Talks
Presentation in IROS2022
Talk at Kyoto International Conference Center, Kyoto, Japan
Teaching
Skills
- C++
- Robotics
- UAV System Identification & Control
- LiDAR SLAM
- Mapping
- CUDA C++
Scholarly Reviews
- Journal of Field Robotics (JFR)
- IEEE Robotics and Automation Letters (RAL)
- IEEE/ASME Transactions on Mechatronics (TMECH)
- IEEE Transactions on Intelligent Vehicles (TIV)
- IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 2023
- IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 2022