You can also find my full list of articles on my Google Scholar profile.
Cao, M.*, Xu, X.*, Yuan, S., Cao, K., Liu, K. and Xie, L.
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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Cao, M., Cao, K., Yuan, S., Liu, K., Wong, Y.L. and Xie, L.
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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Cao, M., Cao, K., Yuan, S., Nguyen, T.M. and Xie, L.
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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Cao, M., Cao, K., Li X. and Xie, L.
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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Cao, K.*, Cao, M.*, Yuan, S. and Xie, L.
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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Nguyen, T.M., Cao, M., Yuan, S., Lyu, Y., Nguyen, T.H. and Xie, L.
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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Nguyen, T.M.*, Nguyen, T.H.*, Cao, M.*, Qiu, Z.* and Xie, L.
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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