Fu Zhang

The University of Hong Kong

収録論文 73本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 任意形状ペイロードを運搬する移動マニピュレータのためのリアルタイム全身動作計画：運動学的に結合したSVSDFによるアプローチ
  動作計画2026/8/7

  移動マニピュレータが任意形状の大型ペイロードを運搬する際のリアルタイム全身動作計画フレームワークを提案。チェーン分解カーネル衝突チェックと運動学的に結合したSVSDF最適化により、複雑な環境での効率的な経路生成を実現した。

• Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
  2026/8/1
• FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation
  2026/8/1
• D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
  2026/4/1
• Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
  2026/3/1
• Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation
  2026/2/1
• Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms
  2025/12/1
• A Survey on LiDAR-based Autonomous Aerial Vehicles
  2025/9/1
• FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
  2025/7/1
• FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection
  2025/4/1
• Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation
  2025/4/1
• Mesh-Learner: Texturing Mesh with Spherical Harmonics
  2025/4/1
• Flying through cluttered and dynamic environments with LiDAR
  2025/4/1
• M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation
  2025/3/1
• GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
  2025/3/1
• Temporal Overlapping Prediction: A Self-supervised Pre-training Method for LiDAR Moving Object Segmentation
  2025/3/1
• LiDAR-based Quadrotor Autonomous Inspection System in Cluttered Environments
  2025/3/1
• Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization
  2025/2/1
• GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping
  2025/1/1
• FAST-LIVO2 on Resource-Constrained Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation
  2025/1/1
• Autonomous Tail-Sitter Flights in Unknown Environments
  2024/11/1
• Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System
  2024/10/1
• EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios
  2024/10/1
• Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms
  2024/9/1
• LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation
  2024/9/1
• Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehicles
  2024/9/1
• LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping
  2024/9/1
• Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems
  2024/9/1
• Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations
  2024/8/1
• FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
  2024/8/1
• Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
  2023/9/1
• Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
  2023/8/1
• Snapp: An Agile Robotic Fish with 3-D Maneuverability for Open Water Swim
  2023/8/1
• Perch a quadrotor on planes by the ceiling effect
  2023/7/1
• Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors
  2023/7/1
• An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds
  2023/5/1
• Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres
  2023/4/1
• Tight Collision Probability for UAV Motion Planning in Uncertain Environment
  2023/3/1
• ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning
  2023/2/1
• ImMesh: An Immediate LiDAR Localization and Meshing Framework
  2023/1/1
• Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
  2022/12/1
• MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
  2022/11/1
• STD: Stable Triangle Descriptor for 3D place recognition
  2022/9/1
• Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search
  2022/9/1
• Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry
  2022/9/1
• Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment
  2022/9/1
• R$^3$LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator
  2022/9/1
• Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
  2022/9/1
• Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning
  2022/8/1
• Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
  2022/4/1
• FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry
  2022/3/1
• Robust Real-time LiDAR-inertial Initialization
  2022/2/1
• Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
  2022/2/1
• Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras using Adaptive Voxelization
  2021/9/1
• R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
  2021/9/1
• Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
  2021/9/1
• FAST-LIO2: Fast Direct LiDAR-inertial Odometry
  2021/7/1
• Model Predictive Control for Trajectory Tracking on Differentiable Manifolds
  2021/6/1
• Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks
  2021/4/1
• Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots
  2021/3/1
• Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments
  2021/3/1
• R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
  2021/2/1
• Kalman Filters on Differentiable Manifolds
  2021/2/1
• ikd-Tree: An Incremental K-D Tree for Robotic Applications
  2021/2/1
• FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter
  2020/10/1
• BALM: Bundle Adjustment for Lidar Mapping
  2020/10/1
• Robots State Estimation and Observability Analysis Based on Statistical Motion Models
  2020/10/1
• A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
  2020/7/1
• Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
  2020/6/1
• Hybrid aerial ground locomotion with a single passive wheel
  2020/3/1
• Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
  2019/9/1
• A fast, complete, point cloud based loop closure for LiDAR odometry and mapping
  2019/9/1
• Flying through a narrow gap using neural network: an end-to-end planning and control approach
  2019/3/1