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Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarm


Apr 04, 2021
Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Xinjie Yao, Guotao Meng, Shaojie Shen


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Omni-swarm: An Aerial Swarm System with Decentralized Omni-directional Visual-Inertial-UWB State Estimation


Mar 06, 2021
Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Shaojie Shen


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FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning


Oct 22, 2020
Boyu Zhou, Yichen Zhang, Xinyi Chen, Shaojie Shen

* Video: https://www.youtube.com/watch?v=_dGgZUrWk-8; Demo: https://github.com/HKUST-Aerial-Robotics/FUEL 

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RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight


Jul 06, 2020
Boyu Zhou, Jie Pan, Fei Gao, Shaojie Shen

* Video: https://www.youtube.com/watch?v=NvR8Lq2pmPg | Code: https://github.com/HKUST-Aerial-Robotics/Fast-Planner. arXiv admin note: text overlap with arXiv:1912.12644 

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Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths


Dec 29, 2019
Boyu Zhou, Fei Gao, Jie Pan, Shaojie Shen

* submit to ICRA 2020 

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Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight


Jul 03, 2019
Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie Shen

* IEEE ROBOTICS AND AUTOMATION LETTERS. ACCEPTED JUNE, 2019. Open source at: https://github.com/HKUST-Aerial-Robotics/Fast-Planner 

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Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments


Jul 01, 2019
Fei Gao, Luqi Wang, Boyu Zhou, Luxin Han, Jie Pan, Shaojie Shen

* Source code: https://github.com/HKUST-Aerial-Robotics/Teach-Repeat-Replan 

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FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots


Mar 06, 2019
Luxin Han, Fei Gao, Boyu Zhou, Shaojie Shen

* 8 pages, 10 figures, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Under Review 

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