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Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments

We developed a method combining Ultra-wideband (UWB) ranging sensor with vision-based techniques to achieve both autonomous approaching and landing capabilities in GPS-denied environments.

UAV Localization and Safe Navigation around Container Cranes during Inspection

In collaboration with ST Engineering and PSA Singapore. I developed the autonomous trajectory planning and control software and demonstrated autonomous flight at PSA harbor.

Drone Inspection System for Building Façade

In collaboration with the Building and Construction Authority (BCA), TÜV SÜD Singapore, Xjera Labs, and IHPC. I designed the onboard sensor suite, set up the hardware and software systems, and developed the path-planning algorithm for autonomous inspection. The project was covered by Open Innovation Network as a success story.

Multi-Level Situation Awareness for Safe and Efficient Multi-agent Collaboration in Smart Manufacturing

In collaboration with Delta Electronics Inc. I led a team of 2 research fellows and 2 research assistants to develop solutions for autonomous robot planning in multi-level buildings and dense human crowds.

Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments

Published in IEEE International Conference on Robotics and Automation (ICRA), 2019

In this paper we propose a method combining Ultra-wideband (UWB) ranging sensor with vision-based techniques to achieve both autonomous approaching and landing capabilities in GPS-denied environments.

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Viral-fusion: A visual-inertial-ranging-lidar sensor fusion approach

Published in IEEE Transactions on Robotics, 2021

We propose a comprehensive optimization-based estimator for the 15-D state of an unmanned aerial vehicle (UAV), fusing data from an extensive set of sensors: inertial measurement unit (IMU), ultrawideband (UWB) ranging sensors, and multiple onboard visual-inertial and lidar odometry subsystems.

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DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation

Published in IEEE Robotics and Automation Letters, 2022

We introduced a novel polynomial trajectory optimization algorithm leveraging differential dynamic programming. We have also released a solver-free implementation of the algorithm in the package. The algorithm is verified using an UAV in indoor flight experiments. [Video][Code]

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Distributed Control of Multirobot Sweep Coverage Over a Region With Unknown Workload Distribution

Published in IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023

We introduced a coverage control algorithm for multi-robot sweep coverage in a region with unknown and uneven workload distribution, and conducted realistic simulations and real flight experiments. [Video]

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Neptune: Nonentangling trajectory planning for multiple tethered unmanned vehicles

Published in IEEE Transactions on Robotics, 2023

We have introduced a trajectory planning framework for multiple tethered unmanned vehicles. The framework lewverages a proposed representation of homotopy that efficiently captures the interactions among the robots, and generates trajectories in an online and decentralized manner. [Video][Code]

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Path Planning for Multiple Tethered Robots Using Topological Braids

Published in Robotics: Science and Systems, 2023

This paper is about a path planning algorithm for multiple tethered robot with guaranteed non-entanglement, leveraging the theory of topological braids. [Video][Presentation][Code]

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DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels

Published in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

This paper is about a novel hybrid aerial-ground robot capable of climbing slope, flying over obstacles and crawling under barriers. IROS Best Entertainment and Amusement Paper Award sponsored by JTCF. [Video]

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Talk 1 on Relevant Topic in Your Field

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Tutorial 1 on Relevant Topic in Your Field

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Talk 2 on Relevant Topic in Your Field

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Conference Proceeding talk 3 on Relevant Topic in Your Field

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Teaching experience 1

Undergraduate course, University 1, Department, 2014

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Teaching experience 2

Workshop, University 1, Department, 2015

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