Faculty Profiles - SHEN Shaojie | The Hong Kong University of Science and Technology

2024 23

A survey on global liDAR localization: challenges, advances and open problems

International Journal of Computer Vision, March 2024
Yin, Huan; Xu, Xuecheng; Lu, Sha; Chen, Xieyuanli; Xiong, Rong; Shen, Shaojie; Stachniss, Cyrill; Wang, Yue
Article

AggFollower: aggressiveness informed car-following modeling

IEEE Transactions on Intelligent Vehicles, April 2024, article number 10490250
Chen, Xianda; Yuan, Xinyi; Zhu, Meixin; Shen, Shaojie; Wang, Xuesong; Wang, Yinhai; Wang, Fei-Yue
Article

An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments

IEEE Transactions on Intelligent Transportation Systems, v. 25, (2), February 2024, article number 10285583, p. 1797-1814
Han, Zhichao; Wu, Yuwei; Li, Tong; Zhang, Lu; Pei, Liuao; Xu, Long; Li, Chengyang; Ma, Changjia; Xu, Chao; Shen, Shaojie; Gao, Fei
Article

D²SLAM: decentralized and distributed collaborative visual-inertial SLAM system for aerial swarm

IEEE Transactions on Robotics, v. 40, July 2024, article number 10582478, p. 3445-3464
Xu, Hao; Liu, Peize; Chen, Xinyi; Shen, Shaojie
Article

FM-Fusion: Instance-Aware Semantic Mapping Boosted by Vision-Language Foundation Models

IEEE Robotics and Automation Letters, v. 9, (3), March 2024, article number 10403989, p. 2232-2239
Liu, Chuhao; Wang, Ke; Shi, Jieqi; Qiao, Zhijian; Shen, Shaojie
Article

G3Reg: Pyramid Graph-Based Global Registration Using Gaussian Ellipsoid Model

IEEE Transactions on Automation Science and Engineering, May 2024, article number 10518010, p. 1-17
Qiao, Zhijian; Yu, Zehuan; Jiang, Binqian; Yin, Huan; Shen, Shaojie
Article

H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-Time Dense Mapping Using Hierarchical Hybrid Representation

IEEE Robotics and Automation Letters, v. 9, (10), October 2024, article number 10602533, p. 9047-9054
Jiang, Chenxing; Luo, Yiming; Zhou, Boyu; Shen, Shaojie
Article

Impact-aware planning and control for aerial robots with suspended payloads

IEEE Transactions on Robotics, v. 40, March 2024, article number 10478625, p. 2478-2497
Wang, Haokun; Li, Haojia; Zhou, Boyu; Gao, Fei; Shen, Shaojie
Article

Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication

IEEE Transactions on Intelligent Vehicles, April 2024, article number 10510603, p. 1-17
Liu, Haichao; Huang, Zhenmin; Zhu, Zicheng; Li, Yulin; Shen, Shaojie; Ma, Jun
Article

LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering

IEEE Robotics and Automation Letters, May 2024, article number 10529285, p. 1-8
Hong, Sheng; He, Junjie; Zheng, Xinhu; Zheng, Chunran; Shen, Shaojie
Article

MetaFollower: Adaptable personalized autonomous car following

Transportation Research Part C: Emerging Technologies, v. 169, December 2024, article number 104872
Chen, Xianda; Chen, Kehua; Zhu, Meixin; Yang, Hao; Shen, Shaojie; Wang, Xuesong; Wang, Yinhai
Article

Microsaccade-inspired event camera for robotics

Science Robotics, v. 9, (90), May 2024, article number eadj8124
He, Botao; Wang, Ze; Zhou, Yuan; Chen, Jingxi; Singh, Chahat Deep; Li, Haojia; Gao, Yuman; Shen, Shaojie; Wang, Kaiwei; Cao, Yanjun; Xu, Chao; Aloimonos, Yiannis; Gao, Fei; Fermüller, Cornelia
Article

Multi-View Depth Estimation by Using Adaptive Point Graph to Fuse Single-View Depth Probabilities

IEEE Robotics and Automation Letters, v. 9, (7), July 2024, article number 10538406, p. 6400-6407
Wang, Ke; Liu, Chuhao; Liu, Zhanwen; Xiao, Fangwei; An, Yisheng; Zhao, Xiangmo; Shen, Shaojie
Article

SIMPL: a simple and efficient multi-agent motion prediction baseline for autonomous driving

IEEE Robotics and Automation Letters, v. 9, (4), April 2024, article number 10449378, p. 3767-3774
Zhang, Lu; Li, Peiliang; Liu, Sikang; Shen, Shaojie
Article

Star-searcher: a complete and efficient aerial system for autonomous target search in complex unknown environments

IEEE Robotics and Automation Letters, v. 9, (5), May 2024, article number 10476680, p. 4329-4336
Luo, Yiming; Zhang, Zixuan; Pan, Neng; Feng, Chen; Shen, Shaojie; Gao, Fei; Cheng, Hui; Zhou, Boyu
Article

A two-step nonlinear factor sparsification for scalable long-term SLAM backend

2024 IEEE International Conference on Robotics and Automation (ICRA) / IEEE. Piscataway, NJ : Institute of Electrical and Electronics Engineers, 2024, p. 10253-10259, Article number: 10610889
Jiang, Binqian; Shen, Shaojie
Conference paper

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights

Proceedings - IEEE International Conference on Robotics and Automation / Institute of Electrical and Electronics Engineers Inc.. New York, USA : Institute of Electrical and Electronics Engineers Inc., 2024, p. 17858-17864, Article number 10610150
Chen, Xinyi; Zhang, Yichen; Zhou, Boyu; Shen, Shaojie
Conference paper

BEVGPT: generative pre-trained transformer for autonomous driving prediction, decision making and planning

Wang, Pengqin; Zhu, Meixin; Lu, Honglliang; Zhong, Hui; Chen, Xiaodan; Shen, Shaojie; Wang, Xuesong; Wang, Yinhai
Conference paper

Cooperative autonomous driving in urban traffic scenarios by parallel optimization enforcing hard safety constraints

Huang, Zhenmin; Liu, Haichao; Shen, Shaojie; Ma, Jun
Conference paper

FC-planner: a skeleton-guided planning framework for fast aerial coverage of complex 3D scenes

Feng, Chen; Li, Haojia; Zhang, Mingjie; Chen, Xinyi; Zhou, Boyu; Shen, Shaojie
Conference paper

GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Image

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 15080, September 2024, p. 241-258
Fu, Xiao; Yin, Wei; Hu, Mu; Wang, Kaixuan; Ma, Yuexin; Tan, Ping; Shen, Shaojie; Lin, Dahua; Long, Xiaoxiao
Conference paper

Less is More: Physical-Enhanced Radar-Inertial Odometry

Proceedings - IEEE International Conference on Robotics and Automation / IEEE. Piscataway, NJ : IEEE, 2024, p. 15966-15972, Article number 10611471
Huang, Qiucan; Liang, Yuchen; Qiao, Zhijian; Shen, Shaojie; Yin, Huan
Conference paper

Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles

2024 IEEE International Conference on Robotics and Automation (ICRA) / IEEE. Piscataway, NJ : Institute of Electrical and Electronics Engineers, 2024, p. 2238-2244, Article number: 10611158
Huang, Zhenmin; Liu, Haichao; Shen, Shaojie; Ma, Jun
Conference paper

2023 21

Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios

IEEE Transactions on Robotics, v. 40, November 2023, article number 10328688, p. 499-519
Gao, Yuman; Ji, Jialin; Wang, Qianhao; Jin, Rui; Lin, Yi; Shang, Zhimeng; Cao, Yanjun; Shen, Shaojie; Xu, Chao; Gao, Fei
Article

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

IEEE Robotics and Automation Letters, v. 8, (10), October 2023, article number 10243043, p. 6859-6866
Li, Haojia; Wang, Haokun; Feng, Chen; Gao, Fei; Zhou, Boyu; Shen, Shaojie
Article

Catch planner: catching high-speed targets in the flight

IEEE/ASME Transactions on Mechatronics, v. 28, (4), July 2023, article number 10175023, p. 2387-2398
Yu, Huan; Wang, Pengqin; Wang, Jin; Ji, Jialin; Zheng, Zhi; Tu, Jie; Lu, Guodong; Meng, Jun; Zhu, Meixin; Shen, Shaojie; Gao, Fei
Article

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM

IEEE Transactions on Intelligent Transportation Systems, July 2023, article number 10171831, p. 1-13
Huang, Zhenmin; Shen, Shaojie; Ma, Jun
Article

H₂-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation

IEEE Robotics and Automation Letters, v. 8, (10), October 2023, article number 10243098, p. 6787-6794
Jiang, Chenxing; Zhang, Hanwen; Liu, Peize; Yu, Zehuan; Cheng, Hui; Zhou, Boyu; Shen, Shaojie
Article

MacFormer: Map-Agent Coupled Transformer for Real-Time and Robust Trajectory Prediction

IEEE Robotics and Automation Letters, v. 8, (10), October 2023, article number 10238733, p. 6795-6802
Feng, Chen; Zhou, Hangning; Lin, Huadong; Zhang, Zhigang; Xu, Ziyao; Zhang, Chi; Zhou, Boyu; Shen, Shaojie
Article

MARC: Multipolicy and Risk-aware Contingency Planning for Autonomous Driving

IEEE Robotics and Automation Letters, v. 8, (10), October 2023, article number 10234564, p. 6587-6594
Li, Tong; Zhang, Lu; Liu, Sikang; Shen, Shaojie
Article

RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System

IEEE Transactions on Robotics, February 2023, article number 10038280, p. 1-20
Zhou, Boyu; Xu, Hao; Shen, Shaojie
Article

SemanticLoop: Loop Closure with 3D Semantic Graph Matching

IEEE Robotics and Automation Letters, v. 8, (2), February 2023, article number 9984819, p. 568-575
Yu, Junfeng; Shen, Shaojie
Article

WiSion: Bolstering MAV 3D Indoor State Estimation by Embracing Multipath of WiFi

IEEE Transactions on Vehicular Technology, v. 72, (1), January 2023, article number 9887902, p. 253-266
Xiao, Fei; Zhang, Shengkai; Tang, Sheyang; Shen, Shaojie; Dong, Huixin; Zhong, Yi
Article

You Only Label Once: 3D Box Adaptation from Point Cloud to Image with Semi-Supervised Learning

IEEE Robotics and Automation Letters, v. 8, (10), October 2023, article number 10235313, p. 6811-6818
Shi, Jieqi; Li, Peiliang; Chen, Xiaozhi; Shen, Shaojie
Article

Are all point clouds suitable for completion? Weakly supervised quality evaluation network for point cloud completion

Proceedings - IEEE International Conference on Robotics and Automation, v. 2023-May, July 2023, article number 10160226, p. 2796-2802
Shi, Jieqi; Li, Peiliang; Chen, Xiaozhi; Shen, Shaojie
Conference paper

BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction

Proceedings of the IEEE International Conference on Computer Vision / IEEE. Piscataway, NJ : IEEE, 2023, p. 8226-8237, article number 10376519
Zhu, Yiyao; Luan, Di; Shen, Shaojie
Conference paper

Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation

Proceedings - IEEE International Conference on Robotics and Automation, v. 2023-May, May 2023, article number 10160337, p. 8386-8392
Jiang, Binqian; Shen, Shaojie
Conference paper

Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes

IEEE International Conference on Intelligent Robots and Systems, December 2023, article number 10341462, p. 7210-7217
Yu, Zehuan; Qiao, Zhijian; Qiu, Liuyang; Yin, Huan; Shen, Shaojie
Conference paper

Online Monocular Lane Mapping Using Catmull-Rom Spline

IEEE International Conference on Intelligent Robots and Systems, December 2023, article number 10341707, p. 7179-7186
Qiao, Zhijian; Yu, Zehuan; Yin, Huan; Shen, Shaojie
Conference paper

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

Proceedings - IEEE International Conference on Robotics and Automation, v. 2023-May, July 2023, article number 10160933, p. 1207-1213
Feng, Chen; Li, Haojia; Gao, Fei; Zhou, Boyu; Shen, Shaojie
Conference paper

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap

IEEE International Conference on Intelligent Robots and Systems / IEEE. Piscataway, NJ : IEEE, 2023, p. 11202-11209, article number 10341394
Qiao, Zhijian; Yu, Zehuan; Yin, Huan; Shen, Shaojie
Conference paper

Rollvox: Real-time and High-quality LiDAR Colorization with Rolling Shutter Camera

IEEE International Conference on Intelligent Robots and Systems, December 2023, article number 10342172, p. 7195-7201
Hong, Sheng; Zheng, Chunran; Yin, Huan; Shen, Shaojie
Conference paper

The devil is in the wrongly-classified samples: towards unified open-set recognition

Cen, Jun; Luan, Di; Zhang, Shiwei; Pei, Yixuan; Zhang, Yingya; Zhao, Deli; Shen, Shaojie; Chen, Qifeng
Conference paper

Towards View-Invariant and Accurate Loop Detection Based on Scene Graph

Proceedings - IEEE International Conference on Robotics and Automation, v. 2023-May, July 2023, article number 10161166, p. 2127-2133
Liu, Chuhao; Shen, Shaojie
Conference paper

2022 14

EPSILON: an efficient planning system for automated vehicles in highly interactive environments

IEEE Transactions on Robotics, v. 38, (2), April 2022, article number 9526613, p. 1118-1138
Ding, Wenchao; Zhang, Lu; Chen, Jing; Shen, Shaojie
Article

Estimation and Propagation: Scene Flow Prediction on Occluded Point Clouds

IEEE Robotics and Automation Letters, v. 7, (4), October 2022, article number 9920196, p. 12201-12208
Wang, Ke; Shen, Shaojie
Article

Geometric Calibration for Cameras with Inconsistent Imaging Capabilities

Sensors, v. 22, (7), April 2022, article number 2739
Wang, Ke; Liu, Chuhao; Shen, Shaojie
Article

GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation

IEEE Transactions on Robotics, 4 January 2022, article number 9667780, p. 1-18
Cao, Shaozu; Lu, Xiuyuan; Shen, Shaojie
Article

Neither Fast Nor Slow: How to Fly through Narrow Tunnels

IEEE Robotics and Automation Letters, v. 7, (2), April 2022, article number 09721002, p. 5489-5496
Wang, Luqi; Xu, Hao; Zhang, Yichen; Shen, Shaojie
Article

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

IEEE Transactions on Robotics, July 2022, article number 9813359, p. 1-21
Xu, Hao; Zhang, Yichen; Zhou, Boyu; Wang, Luqi; Yao, Xinjie; Meng, Guotao; Shen, Shaojie
Article

Semi-Supervised Learning: Structure, Reflectance and Lighting Estimation from a Night Image Pair

IEEE Robotics and Automation Letters, v. 7, (2), April 2022, p. 976-983
Wang, Ke; Shen, Shaojie
Article

Temporal Point Cloud Completion with Pose Disturbance

IEEE Robotics and Automation Letters, v. 7, (2), April 2022, p. 4165-4172
Shi, Jieqi; Xu, Lingyun; Li, Peiliang; Chen, Xiaozhi; Shen, Shaojie
Article

A LiDAR-inertial Odometry with Principled Uncertainty Modeling

IEEE International Conference on Intelligent Robots and Systems, v. 2022, October 2022, article number 9981157, p. 13292-13299
Jiang, Binqian; Shen, Shaojie
Conference paper

Exploration with global consistency using real-time re-integration and active loop closure

Proceedings - IEEE International Conference on Robotics and Automation / Institute of Electrical and Electronics Engineers. Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers, 2022, p. 9682-9688, Article number 9811892
Zhang, Yichen; Zhou, Boyu; Wang, Luqi; Shen, Shaojie
Conference paper

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

IEEE International Conference on Intelligent Robots and Systems, v. 2022, October 2022, article number 9981397, p. 10283 -10289
Chen, Xinyi; Zhou, Boyu; Lin, Jirong; Zhang, Yichen; Zhang, Fu; Shen, Shaojie
Conference paper

Low noise current controller design for table-level balance robot's joint

Liao, Xuanhong; Shen, Shaojie; Li, Zexiang; Yu, Lei
Conference paper

Temporal Scheduling and Optimization for Multi-MAV Planning

Springer Proceedings in Advanced Robotics, v. 20 SPAR, 2022, p. 813-831
Wu, William; Gao, Fei; Wang, Luqi; Zhou, Boyu; Shen, Shaojie
Conference paper

Trajectory prediction with graph-based dual-scale context fusion

IEEE International Conference on Intelligent Robots and Systems, v. 2022, October 2022, article number 9981923, p. 11374-11381
Zhang, Lu; Li, Peiliang; Chen, Jing; Shen, Shaojie
Conference paper

2021 10

Depth estimation under motion with single pair rolling shutter stereo images

IEEE Robotics and Automation Letters, v. 6, (2), April 2021, article number 09369005, p. 3160-3167
Wang, Ke; Liu, Chuhao; Wang, Kaixuan; Shen, Shaojie
Article

Event-Based Motion Segmentation with Spatio-Temporal Graph Cuts

IEEE Transactions on Neural Networks and Learning Systems, November 2021, p. 1-13
Zhou, Yi; Gallego, Guillermo; Lu, Xiuyuan; Liu, Siqi; Shen, Shaojie
Article

Event-Based Stereo Visual Odometry

IEEE Transactions on Robotics, v. 37, (5), 25 March 2021, article number 9386209, p. 1433-1450
Zhou, Yi; Gallego, Guillermo; Shen, Shaojie
Article

FUEL: Fast UAV exploration using incremental frontier structure and hierarchical planning

IEEE Robotics and Automation Letters, v. 6, (2), April 2021, article number 9324988, p. 779-786
Zhou, Boyu; Zhang, Yichen; Chen, Xinyi; Shen, Shaojie
Article

Graph Guided Deformation for Point Cloud Completion

IEEE Robotics and Automation Letters, v. 6, (4), October 2021, article number 9484752, p. 7081-7088
Shi, Jieqi; Xu, Lingyun; Heng, Liang; Shen, Shaojie
Article

Learning whole-image descriptors for real-time loop detection and kidnap recovery under large viewpoint difference

Robotics and Autonomous Systems, v. 143, September 2021, article number 103813
Kuse, Manohar Prakash; Shen, Shaojie
Article

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

IEEE Transactions on Robotics, v. 37, (6), December 2021, p. 1992-2009
Zhou, Boyu; Pan, Jie; Gao, Fei; Shen, Shaojie
Article

Real-time temporal and rotational calibration of heterogeneous sensors using motion correlation analysis

IEEE Transactions on Robotics, v. 37, (2), April 2021, article number 3033698, p. 587-602
Qiu, Kejie; Qin, Tong; Pan, Jie; Liu, Siqi; Shen, Shaojie
Article

Estimation and adaption of indoor ego airflow disturbance with application to quadrotor trajectory planning

Proceedings - IEEE International Conference on Robotics and Automation, v. 2021-May, May 2021, p. 384-390
Wang, Luqi; Zhou, Boyu; Liu, Chuhao; Shen, Shaojie
Conference paper

Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 / IEEE. Piscataway, NJ : IEEE, 2021, p. 4445-4452, article number 9636307
Lu, Xiuyuan; Zhou, Yi; Shen, Shaojie
Conference paper

2020 15

Autonomous Aerial Robot Using Dual-Fisheye Cameras

Journal of Field Robotics, v. 37, (4), June 2020, p. 497-514
Gao, Wenliang; Wang, Kaixuan; Ding, Wenchao; Gao, Fei; Qin, Tong; Shen, Shaojie
Article

Flow-motion and depth network for monocular stereo and beyond

IEEE Robotics and Automation Letters, v. 5, (2), February 2020, article number 09006823, p. 3307-3314
Wang, Kaixuan; Shen, Shaojie
Article

Survey of UAV motion planning

IET Cyber-systems and Robotics, v. 2, (1), March 2020, p. 14-21
Quan, Lun; Han, Luxin; Zhou, Boyu; Shen, Shaojie; Gao, Fei
Article

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

IEEE Transactions on Robotics, v. 36, (5), October 2020, article number 9102390, p. 1526-1545
Gao, Fei; Wang, Luqi; Zhou, Boyu; Zhou, Xin; Pan, Jie; Shen, Shaojie
Article

A Collaborative Aerial-Ground Robotic System for Fast Exploration

Proceedings of the 2018 International Symposium on Experimental Robotics / Jing Xiao, Torsten Kröger, Oussama Khatib (Editors). Switerland : Springer Nature, 2020, p. 59-71, Book series: Springer Proceedings in Advanced Robotics, v. 11
Wang, Luqi; Cheng, Daqian; Gao, Fei; Cai, Fengyu; Guo, Jixin; Lin, Mengxiang; Shen, Shaojie
Conference paper

An Augmented Reality Interaction Interface for Autonomous Drone

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) / Institute of Electrical and Electronics Engineers Inc.. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2020, p. 11419-11424, Article number: 9341037
Liu, Chuhao; Shen, Shaojie
Conference paper

Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm

2020 IEEE International Conference on Robotics and Automation (ICRA) / IEEE. Piscataway, NJ : IEEE, 2020, p. 8776-8782, Article number 9196944
Xu, Hao; Wang, Luqi; Zhang, Yichen; Qiu, Kejie; Shen, Shaojie
Conference paper

Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching

2020 IEEE International Conference on Robotics and Automation (ICRA) / Institute of Electrical and Electronics Engineers Inc.. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2020, p. 3291-3297, Article number: 9197302
Zhang, Lu; Ding, Wenchao; Chen, Jing; Shen, Shaojie
Conference paper

FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment

2020 IEEE International Conference on Robotics and Automation, ICRA / Institute of Electrical and Electronics Engineers Inc.. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2020, p. 2109-2115, Article number: 9197118
Wang, Ke; Wang, Kaixuan; Shen, Shaojie
Conference paper

FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications

2020 30th International Conference on Field-Programmable Logic and Applications (FPL) / IEEE. Piscataway, NJ : IEEE, 2020, p. 269-276
Zhao, Jieru; Liang, Tingyuan; Feng, Liang; Ding, Wenchao; Sinha, Sharad; Zhang, Wei; Shen, Shaojie
Conference paper

Geometric Pretraining for Monocular Depth Estimation

2020 IEEE International Conference on Robotics and Automation (ICRA) / Institute of Electrical and Electronics Engineers Inc.. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2020, p. 4782-4788, Article number: 9196847
Wang, Kaixuan; Chen, Yao; Guo, Hengkai; Wen, Linfu; Shen, Shaojie
Conference paper

Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition CVPR 2020 / The Institute of Electrical and Electronics Engineers, Inc.. Piscataway, NJ : The Institute of Electrical and Electronics Engineers, Inc., 2020, p. 6876-6885, Article number 9156360
Li, Peiliang; Shi, Jieqi; Shen, Shaojie
Conference paper

PiP: Planning-Informed Trajectory Prediction for Autonomous Driving

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 12366 LNCS, 2020, p. 598-614
Song, Haoran; Ding, Wenchao; Chen, Yuxuan; Shen, Shaojie; Wang, Michael Yu; Chen, Qifeng
Conference paper

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

2020 IEEE International Conference on Robotics and Automation (ICRA) / Institute of Electrical and Electronics Engineers Inc.. Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2020, p. 1208-1214, Article number: 9196996
Zhou, Boyu; Gao, Fei; Pan, Jie; Shen, Shaojie
Conference paper

Tracking from patterns: learning corresponding patterns in point clouds for 3D object tracking

Shi, Jieqi; Li, Peiliang; Shen, Shaojie
Conference paper

2019 16

An efficient B-spline-based kinodynamic replanning framework for quadrotors

IEEE Transactions on Robotics, v. 35, (6), December 2019, article number 8811597, p. 1287-1306
Ding, Wenchao; Gao, Wenliang; Wang, Kaixuan; Shen, Shaojie
Article

Flying on point clouds: online trajectory generation and autonomous navigation for quadrotor in cluttered environments

Journal of Field Robotics, v. 36, (4), June 2019, p. 710-733
Gao, Fei; Wu, William; Gao, Wenliang; Shen, Shaojie
Article

Optimal Trajectory Generation for Quadrotor Teach-And-Repeat

IEEE Robotics and Automation Letters, v. 4, (2), April 2019, article number 8625495, p. 1493-1500
Gao, Fei; Wang, Luqi; Wang, Kaixuan; Wu, William; Zhou, Boyu; Han, Luxin; Shen, Shaojie
Article

Real-time Dense Mapping for Online Processing and Navigation

Journal of Field Robotics, v. 36, (5), March 2019, p. 1004-1036
Ling, Yonggen; Shen, Shaojie
Article

Robust and efficient quadrotor trajectory generation for fast autonomous flight

IEEE Robotics and Automation Letters, v. 4, (4), October 2019, article number 08758904, p. 3529-3536
Zhou, Boyu; Gao, Fei; Wang, Luqi; Liu, Chuhao; Shen, Shaojie
Article

Safe trajectory generation for complex urban environments using spatio-temporal semantic corridor

IEEE Robotics and Automation Letters, v. 4, (3), July 2019, article number 8740885, p. 2997-3004
Ding, Wenchao; Zhang, Lu; Chen, Jing; Shen, Shaojie
Article

Tracking 3-D motion of dynamic objects using monocular visual-inertial sensing

IEEE Transactions on Robotics, v. 35, (4), August 2019, article number 08705685, p. 799-816
Qiu, Kejie; Qin, Tong; Gao, Wenliang; Shen, Shaojie
Article

A GPS-aided omnidirectional visual-inertial state estimator in ubiquitous environments

IEEE International Conference on Intelligent Robots and Systems (IROS), November 2019, article number 8968519, p. 7750-7755
Yu, Yang; Gao, Wenliang; Liu, Chengju; Shen, Shaojie; Liu, Ming
Conference paper

A screen-based method for automated camera intrinsic calibration on production lines

IEEE International Conference on Automation Science and Engineering (CASE), v.2019-August, August 2019, article number 8842956, p. 392-398
Gao, Wenliang; Lin, Jiarong; Zhang, Fu; Shen, Shaojie
Conference paper

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

IEEE International Conference on Intelligent Robots and Systems, v. 2019, November 2019, article number 8968199, p. 4423-4430
Han, Luxin; Gao, Fei; Zhou, Boyu; Shen, Shaojie
Conference paper

Flying through a narrow gap using neural network: an end-to-end planning and control approach

IEEE International Conference on Intelligent Robots and Systems (IROS), November 2019, article number 8967944, p. 3526-3533
Lin, Jiarong; Wang, Luqi; Gao, Fei; Shen, Shaojie; Zhang, Fu
Conference paper

Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoning

Proceedings of IEEE International Conference on Robotics and Automation, v. 2019-May, May 2019, article number 8793568, p. 9610-9616
Ding, Wenchao; Shen, Shaojie
Conference paper

Predicting Vehicle Behaviors Over an Extended Horizon Using Behavior Interaction Network

Proceedings of IEEE International Conference on Robotics and Automation, v. 2019-May, May 2019, article number 8794146, p. 8634-8640
Ding, Wenchao; Chen, Jing; Shen, Shaojie
Conference paper

Real-time dense stereo embedded in a UAV for road inspection

Fan, Rui; Jiao, Jianhao; Pan, Jie; Huang, Huaiyang; Shen, Shaojie; Liu, Ming
Conference paper

Real-Time Dense Stereo Embedded in A UAV for Road Inspection

IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, v. 2019-June, June 2019, article number 9025600, p. 535-543
Fan, Rui; Jiao, Jianhao; Pan, Jie; Huang, Huaiyang; Shen, Shaojie; Liu, Ming
Conference paper

Stereo R-CNN based 3D Object Detection for Autonomous Driving

Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, v. 2019, June 2019, article number 8953542, p. 7636-7644
Li, Peiliang; Chen, Xiaozhi; Shen, Shaojie
Conference paper

2018 23

A survey on aerial swarm robotics

IEEE Transactions on Robotics, v. 34, (4), August 2018, article number 08424838, p. 837-855
Chung, Soon-Jo; Paranjape, Aditya Avinash; Dames, Philip; Shen, Shaojie; Kumar, Vijay
Article

Autonomous aerial navigation using monocular visual-inertial fusion

Journal of Field Robotics, v. 35, (1), January 2018, p. 23-51
Lin, Yi; Gao, Fei; Qin, Tong; Gao, Wenliang; Liu, Tianbo; Wu, William; Yang, Zhenfei; Shen, Shaojie
Article

Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H_∞ synthesis

IEEE Robotics and Automation Letters, v. 3, (4), October 2018, article number 8385166, p. 2910-2917
Lyu, Ximin; Zhou, Jinni; Gu, Haowei; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Article

Edge alignment-based visual-inertial fusion for tracking of aggressive motions

Autonomous Robots, v. 42, (3), March 2018, p. 513-528
Ling, Yonggen; Kuse, Manohar Prakash; Shen, Shaojie
Article

Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope

International Journal of Micro Air Vehicles, v. 10, (4), December 2018, p. 303-317
Lyu, Ximin; Gu, Haowei; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Article

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

IEEE Transactions on Robotics, v. 34, (4), August 2018, article number 08421746, p. 1004-1020
Qin, Tong; Li, Peiliang; Shen, Shaojie
Article

A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs

2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, August 2018, article number 8453458, p. 1189-1198
Gu, Haowei; Cai, Xiaoyu; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

ACT: An Autonomous Drone Cinematography System for Action Scenes

Proceedings - IEEE International Conference on Robotics and Automation, September 2018, article number 8460703, p. 7039-7046
Huang, Chong; Gao, Fei; Pan, Jie; Yang, Zhenyu; Qiu, Weihao; Chen, Peng; Yang, Xin; Shen, Shaojie; Cheng, Kwang Ting
Conference paper

Adaptive Baseline Monocular Dense Mapping With Inter-frame Depth Propagation

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), December 2018, article number 8593936, p. 3225-3232
Wang, Kaixuan; Shen, Shaojie
Conference paper

CRASH: A Collaborative Aerial-ground Exploration System Using Hybrid-frontier Method

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, 2018, article number 8665052, p. 2259-2266
Wang, Luqi; Gao, Fei; Cai, Fengyu; Shen, Shaojie
Conference paper

Estimating Metric Poses of Dynamic Objects Using Monocular Visual-inertial Fusion

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), December 2018, article number 8593748, p. 62-68
Qiu, Kejie; Qin, Tong; Xie, Hongwen; Shen, Shaojie
Conference paper

Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs

2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018, September 2018, article number 8453475, p. 1142-1149
Zhou, Jinni; Lyu, Ximin; Cai, Xiaoyu; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Learning unmanned aerial vehicle control for autonomous target following

IJCAI International Joint Conference on Artificial Intelligence, v. 2018-July, 1 January 2018, p. 4936-4942
Li, Siyi; Liu, Tianbo; Zhang, Chi; Yeung, Dit Yan; Shen, Shaojie
Conference paper

MVDepthNet: real-time multiview depth estimation neural network

Proceedings of International Conference on 3D Vision, v. 2018, September 2018, article number 8490975, p. 248-257
Wang, Kaixuan; Shen, Shaojie
Conference paper

Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial

IEEE International Conference on Robotics and Automation (ICRA), 2018, article number 8462878, p. 344-351
Gao, Fei; Wu, William; Lin, Yi; Shen, Shaojie
Conference paper

Online Temporal Calibration for Monocular Visual-inertial Systems

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, December 2018, article number 8593603, p. 3662-3669
Qin, Tong; Shen, Shaojie
Conference paper

Optimal Time Allocation for Quadrotor Trajectory Generation

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), December 2018, article number 8593579, p. 4715-4722
Gao, Fei; Wu, William; Pan, Jie; Zhou, Boyu; Shen, Shaojie
Conference paper

Probabilistic Dense Reconstruction From a Moving Camera

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), December 2018, article number 8593618, p. 6364-6371
Ling, Yonggen; Wang, Kaixuan; Shen, Shaojie
Conference paper

Quadtree-accelerated Real-time Monocular Dense Mapping

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), December 2018, p. 7817-7824
Wang, Kaixuan; Ding, Wenchao; Shen, Shaojie
Conference paper

Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM

2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, article number 08460780, p. 1197-1204
Qin, Tong; Li, Peiliang; Shen, Shaojie
Conference paper

SLAM-based Localization of 3D Gaze Using A Mobile Eye Tracker

Eye Tracking Research and Applications Symposium (ETRA), June 2018, article number a65, p. 1-5
Wang, Haofei; Pi, Jimin; Qin, Tong; Shen, Shaojie; Shi, Bertram Emil
Conference paper

Stereo vision-based semantic 3D object and ego-motion tracking for autonomous driving

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 11206 LNCS, 2018, p. 664-679
Li, Peiliang; Qin, Tong; Shen, Shaojie
Conference paper

Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

Proceeding of 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, article number 08463188, p. 7595-7602
Ding, Wenchao; Gao, Wenliang; Wang, Kaixuan; Shen, Shaojie
Conference paper

2017 23

Model-based Global Localization for Aerial Robots Using Edge Alignment

IEEE Robotics and Automation Letters, v. 2, (3), July 2017, article number 07835174, p. 1256-1263
Qiu, Kejie; Liu, Tianbo; Shen, Shaojie
Article

Monocular Visual-Inertial State Estimation with Online Initialization and Camera-IMU Extrinsic Calibration

IEEE Transactions on Automation Science and Engineering, v. 14, (1), January 2017, article number 7463059, p. 39-51
Yang, Zhenfei; Shen, Shaojie
Article

Spline-based Initialization of Monocular Visual-inertial State Estimators at High Altitude

IEEE Robotics and Automation Letters, v. 2, (4), October 2017, article number 07972991, p. 2224-2231
Liu, Tianbo; Shen, Shaojie
Article

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, September 2017, article number 8206400, p. 5135-5141
Lyu, Ximin; Gu, Haowei; Zhou, Jinni; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, September 2017, article number 8206359, p. 4835-4841
Zhou, Jinni; Lyu, Ximin; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Building Maps for Autonomous Navigation Using Sparse Visual SLAM Features

IEEE International Conference on Intelligent Robots and Systems, December 2017, article number 8202316, p. 1374-1381
Ling, Yonggen; Shen, Shaojie
Conference paper

Collaborative Air-ground Target Searching in Complex Environments

SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference, October 2017, article number 8088168, p. 230-237
Shen, Changsheng; Zhang, Yuanzhao; Li, Zimo; Gao, Fei; Shen, Shaojie
Conference paper

CSI-based WiFi-inertial state estimation

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, February 2017, article number 7849496, p. 244-250
Li, Bing; Zhang, Shengkai; Shen, Shaojie
Conference paper

Deep-mapnets: a residual network for 3D environment representation

IEEE International Conference on Image Processing (ICIP), v. 2017, September 2017, article number 08296763, p. 2652-2656
Kuse, Manohar Prakash; Jaiswal, Sunil Prasad; Shen, Shaojie
Conference paper

Design and Implementation of a Quadrotor Tail-sitter VTOL UAV

Proceedings - IEEE International Conference on Robotics and Automation, July 2017, article number 7989452, p. 3924-3930
Lyu, Ximin; Gu, Haowei; Wang, Ya; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Design, Implementation and Verification of a Quadrotor Tail-sitter VTOL UAV

2017 International Conference on Unmanned Aircraft Systems (ICUAS 2017), July 2017, article number 7991419, p. 462-471
Wang, Ya; Lyu, Ximin; Gu, Haowei; Shen, Shaojie; Li, Zexiang; Zhang, Fu
Conference paper

Development and Experimental Verification of a Hybrid Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV)

2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, July 2017, article number 7991420, p. 160-169
Gu, Haowei; Lyu, Ximin; Li, Zexiang; Shen, Shaojie; Zhang, Fu
Conference paper

Dual-Fisheye Omnidirectional Stereo

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, December 2017, article number 8206587, p. 6715-6722
Gao, Wenliang; Shen, Shaojie
Conference paper

Gesture-based piloting of an aerial robot using monocular vision

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, July 2017, article number 7989696, p. 5913-5920, 2017 IEEE International Conference on Robotics and Automation (ICRA 2017) - Innovation, Entrepreneurship, and Real-world Solutions
Sun, Ting; Nie, Shengyi; Yeung, Dit Yan; Shen, Shaojie
Conference paper

Gradient-based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments

IEEE International Conference on Intelligent Robots and Systems, v. 2017-September, December 2017, article number 8206214, p. 3681-3688
Gao, Fei; Lin, Yi; Shen, Shaojie
Conference paper

High altitude monocular visual-inertial state estimation: initialization and sensor fusion

Proceedings of IEEE International Conference on Robotics and Automation, May 2017, article number 7989528, p. 4544-4551
Liu, Tianbo; Shen, Shaojie
Conference paper

Improving Octree-based Occupancy Maps using Environment Sparsity with Application to Aerial Robot Navigation

Proceedings - IEEE International Conference on Robotics and Automation, July 2017, article number 7989419, p. 3656-3663
Chen, Jing; Shen, Shaojie
Conference paper

Model-aided monocular visual-inertial state estimation and dense mapping

IEEE International Conference on Intelligent Robots and Systems, December 2017, article number 8205992, p. 1783-1789
Qiu, Kejie; Shen, Shaojie
Conference paper

Monocular Visual-Inertial State Estimation for Mobile Augmented Reality

Proceedings of the 2017 IEEE International Symposium on Mixed and Augmented Reality, ISMAR 2017, v. 2017, 20 November 2017, article number 8115400, p. 11-21
Li, Peiliang; Qin, Tong; Hu, Botao; Zhu, Fengyuan; Shen, Shaojie
Conference paper

Quadrotor Trajectory Generation in Dynamic Environments using Semi-definite Relaxation on Nonconvex QCQP

Proceedings - IEEE International Conference on Robotics and Automation, July 2017, article number 7989750, p. 6354-6361
Gao, Fei; Shen, Shaojie
Conference paper

Real-time Monocular Dense Mapping on Aerial Robots using Visual-inertial Fusion

Proceedings - IEEE International Conference on Robotics and Automation, July 2017, article number 7989529, p. 4552-4559
Yang, Zhenfei; Gao, Fei; Shen, Shaojie
Conference paper

Robust Initialization of Monocular Visual-Inertial Estimation on Aerial Robots

IEEE International Conference on Intelligent Robots and Systems, December 2017, article number 8206284, p. 4225-4232, Category numberCFP17IRO-ART; Code 133565
Qin, Tong; Shen, Shaojie
Conference paper

Using a Quadrotor to Track a Moving Target with Arbitrary Relative Motion Patterns

IEEE International Conference on Intelligent Robots and Systems, December 2017, article number 8206424, p. 5310-5317
Chen, Jing; Shen, Shaojie
Conference paper

2016 10

Aggressive Quadrotor Flight Using Dense Visual-Inertial Fusion

2016 IEEE International Conference on Robotics and Automation (ICRA), v. 2016-June, June 2016, article number 7487286, p. 1499-1506
Ling, Yonggen; Liu, Tianbo; Shen, Shaojie
Conference paper

Dense Visual-Inertial Odometry for Tracking of Aggressive Motions

2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, February 2016 , article number 7418830, p. 576-583
Ling, Yonggen; Shen, Shaojie
Conference paper

High-precision Online Markerless Stereo Extrinsic Calibration

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), v. 2016-November, November 2016, article number 7759283, p. 1771-1778
Ling, Yonggen; Shen, Shaojie
Conference paper

Monocular Visual-Inertial Fusion with Online Initialization and Camera-IMU Calibration

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) / IEEE. IEEE, 2016, Article number 7442952
Yang, Zhenfei; Shen, Shaojie
Conference paper

Online Generation of Collision-Free Trajectories for Quadrotor Flight in Unknown Cluttered Environments

Proceedings - IEEE International Conference on Robotics and Automation, v. 2016-June, June 2016, article number 7487283, p. 1476-1483
Chen, Jing; Liu, Tianbo; Shen, Shaojie
Conference paper

Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Clouds

2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), December 2016, article number 7784290, p. 139-146
Gao, Fei; Shen, Shaojie
Conference paper

Real-time safe trajectory generation for quadrotor flight in cluttered environments

2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, 2016, article number 7419013, p. 1678-1685
Chen, Jing; Su, Kunyue; Shen, Shaojie
Conference paper

Robust camera motion estimation using direct edge alignment and sub-gradient method

Proceedings - IEEE International Conference on Robotics and Automation, v. 2016, June 2016, article number 7487181, p. 573-579
Kuse, Manohar Prakash; Shen, Shaojie
Conference paper

Self-calibrating Multi-camera Visual-inertial Fusion for Autonomous MAVs

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), v. 2016-November, November 2016, article number 7759732, p. 4984-4991
Yang, Zhenfei; Liu, Tianbo; Shen, Shaojie
Conference paper

Tracking a moving target in cluttered environments using a quadrotor

IEEE International Conference on Intelligent Robots and Systems, November 2016, article number 7759092, p. 446-453
Chen, Jing; Liu, Tianbo; Shen, Shaojie
Conference paper

2015 2

Inspection of Penstocks and Featureless Tunnel-like Environments using Micro UAVs

Springer Tracts in Advanced Robotics, v. 105, 2015, p. 123-136
Ozaslan, Tolga; Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan; Kumar, Vijay
Conference paper

Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs

Proceedings - IEEE International Conference on Robotics and Automation, May 2015, article number 7139939, p. 5303-5310
Shen, Shaojie; Michael, Nathan; Kumar, Vijay
Conference paper

2014 3

Initialization-free monocular visual-inertial state estimation with application to autonomous MAVs

Experimental Robotics, v. 109, June 2014, p. 211-227, Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)
Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan; Kumar, Vijay
Conference paper

Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV

2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 2014, article number 6907588, p. 4974-4981
Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan; Kumar, Vijay
Conference paper

Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots

Experimental Robotics, v. 109, June 2014, p. 865-878, Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)
Liu, Sikang; Mohta, Kartik; Shen, Shaojie; Kumar, Vijay
Conference paper

2013 3

Obtaining liftoff indoors: autonomous navigation in confined indoor environments

IEEE Robotics and Automation Magazine, v. 20, (4), December 2013, article number 6678604, p. 40-48
Shen, Shaojie; Michael, Nathan; Kumar, Vijay
Article

Vision-Based State Estimation and Trajectory Control Towards High-speed Flight with a Quadrotor

Proceedings of Robotics: Science and Systems X, 2013, p. 865-878
Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan; Kumar, Vijay
Conference paper

Vision-based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments

2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 1758-1764
Shen, Shaojie; Mulgaonkar, Yash; Michael, Nathan; Kumar, Vijay
Conference paper

2012 5

Collaborative mapping of an earthquake-damaged building via ground and aerial robots

Journal Field Robotics, v.. 29, (5), September 2012, p. 832-841
Michael, Nathan; Shen, Shaojie; Mohta, Kartik; Mulgaonkar, Yash; Kumar, Vijay; Nagatani, Keiji; Okada, Yoshito; Kiribayashi, Seiga; Otake, Kazuki; Yoshida, Kazuya; Ohno, Kazunori; Takeuchi, Eijiro; Tadokoro, Satoshi
Article

Stochastic differential equation-based exploration algorithm for autonomous indoor 3d exploration with a micro-aerial vehicle

International Journal of Robotics Research, v. 31, (12), November 2012, p. 1431-1444
Shen, Shaojie; Michael, Nathan; Kumar, Vijay
Article

Autonomous indoor 3D exploration with a micro-aerial vehicle

Proceedings - IEEE International Conference on Robotics and Automation, 2012, article number 6225146, p. 9-15
Shen, Shaojie; Michael, Nathan; Kumar, Vijay
Conference paper

Collaborative mapping of an earthquake-damaged building via ground and aerial robots

Springer Tracts in Advanced Robotics, v. 92, 2014, p. 33-47
Michael, Nathan; Shen, Shaojie; Mhota, Kartik; Kumar, Vijay; Nagatani, Keiji; Okada, Yoshito; Kiribayashi, Seiga; Otake, Kazuki; Yoshida, Kazuki; Ohno, Kazuya; Takeuchi, Eijiro; Tadokoro, Satoshi
Conference paper

State estimation for indoor and outdoor operation with a micro-aerial vehicle

Springer Tracts in Advanced Robotics, v. 88, 2012, p. 273-288
Shen, Shaojie; Michael, Nathan
Conference paper

2011 2

Autonomous multi-floor indoor navigation with a computationally constrained MAV

Proceedings - IEEE International Conference on Robotics and Automation, 2011, article number 5980357, p. 20-25
Shen, Shaojie; Michael, Nathan; Kumar, Vijay
Conference paper

Autonomous multi-floor indoor navigation with a computationally constrained micro aerial vehicle

Proceedings - IEEE International Conference on Robotics and Automation, 2011, article number 5980364, p. 2968-2969
Shen, Shaojie; MichaeL, Nathan; Kumar, Vijay S.
Conference paper

ELEC2910	Academic and Professional Development I
ELEC3210	Introduction to Mobile Robotics
ELEC3910	Academic and Professional Development II

CPEG4911	Computer Engineering Final Year Project in ELEC
ELEC2910	Academic and Professional Development I
ELEC3910	Academic and Professional Development II
ELEC4900	Final Year Design Project
ELEC5660	Introduction to Aerial Robotics

ELEC1100	Introduction to Electro-Robot Design
ELEC2910	Academic and Professional Development I
ELEC3910	Academic and Professional Development II

Research Interest

Publications

2024 23

2023 21

2022 14

2021 10

2020 15

2019 16

2018 23

2017 23

2016 10

2015 2

2014 3

2013 3

2012 5

2011 2

Article 15

Conference paper 8

Article 11

Conference paper 10

Article 8

Conference paper 6

Article 8

Conference paper 2

Article 4

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Article 7

Conference paper 9

Article 6

Conference paper 17

Article 3

Conference paper 20

Conference paper 10

Conference paper 2

Conference paper 3

Article 1

Conference paper 2

Article 2

Conference paper 3

Conference paper 2

2018 23

2017 23

2016 10

2015 2

2014 3

2013 3

2012 5

2011 2

Teaching Assignment

Research Postgraduate (RPG) Supervision

From January 2021 to December 2024 (As of 21 November 2024)

Current RPGs

Graduated RPGs

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From January 2022 to December 2024

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