Cao Muqing

Cao Muqing

Postdoc, Carnegie Mellon University Ph.D, Nanyang Technological University

Selected Publications

You can also find my full list of articles on my Google Scholar profile.

2025

Learning Dynamic Weight Adjustment for Spatial-Temporal Trajectory Planning in Crowd Navigation

Cao, M., Xu, X., Yang, Y., Li, J., Jin, T., Wang, P., Hung, T.Y., Lin, G. and Xie, L.

IEEE International Conference on Robotics and Automation (ICRA), 2025
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AToM: Adaptive Theory-of-Mind-Based Human Motion Prediction in Long-Term Human-Robot Interactions

Liao, Y., Cao, M., Xu, X. and Xie, L.

IEEE International Conference on Robotics and Automation (ICRA), 2025
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PIPE Planner: Pathwise Information Gain with Map Predictions for Indoor Robot Exploration

Baek, S., Moon, B., Kim, S., Cao, M., Ho, C., Scherer, S. and Jeon, J.H.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
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Following Is All You Need: Robot Crowd Navigation Using People As Planners

Liao, Y., Xu, X., Bai, R., Yang, Y., Cao, M., Yuan, S. and Xie, L.

IEEE Robotics and Automation Letters, 2025
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Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-Uncrewed-Aerial-Vehicle Planning and Lessons Learned

Cao, M., Nguyen, T.M., Yuan, S., Anastasiou, A., Zacharia, A., Papaioannou, S., Kolios, P., Panayiotou, C.G., Polycarpou, M.M., Xu, X., Zhang, M., Gao, F., Zhou, B., Chen, B.M. and Xie, L.

IEEE Robotics & Automation Magazine, 2025
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Relative localizability and localization for multi-robot systems

Chen, L., Liang, C., Yuan, S., Cao, M. and Xie, L.

IEEE Transactions on Robotics, 2025
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2024

A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System

Xu, X., Cao, M., Yuan, S., Nguyen, T.H., Nguyen, T.M. and Xie, L.

IEEE 18th International Conference on Control & Automation (ICCA), 2024
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HCTO: Optimality-aware LiDAR inertial odometry with hybrid continuous time optimization for compact wearable mapping system

Li, J., Yuan, S., Cao, M., Nguyen, T.M., Cao, K. and Xie, L.

ISPRS Journal of Photogrammetry and Remote Sensing, 2024
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CapsuleBot: A Novel Hybrid Aerial-Ground Bi-Copter Robot With Two Actuated-Wheel-Rotors

Zheng, Z., Cai, Q., Wang, J., Xu, X., Cao, M., Yu, H., Li, J., Meng, J. and Lu, G.

IEEE Robotics and Automation Letters, 2024
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AV-FDTI: Audio-visual fusion for drone threat identification

Yang, Y., Yuan, S., Yang, J., Nguyen, T.H., Cao, M., Nguyen, T.M., Wang, H. and Xie, L.

Journal of Automation and Intelligence, 2024
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AirCrab: A Hybrid Aerial-Ground Manipulator with An Active Wheel

Cao, M., Zhao, J., Xu, X. and Xie, L.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
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A data-driven control method for ground locomotion on sloped terrain of a hybrid aerial-ground robot

Xu, X., Yang, Y., Cao, M., Nguyen, T.M., Cao, K. and Xie, L.

Journal of Automation and Intelligence, 2024
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2023

System identification and control of the ground operation mode of a hybrid aerial--ground robot

Cao, M., Xu, X., Cao, K. and Xie, L.

Control Theory and Technology, 2023
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Neptune: Nonentangling trajectory planning for multiple tethered unmanned vehicles

Cao, M., Cao, K., Yuan, S., Nguyen, T.M. and Xie, L.

IEEE Transactions on Robotics, 2023
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Path Planning for Multiple Tethered Robots Using Topological Braids

Cao, M., Cao, K., Yuan, S., Liu, K., Wong, Y.L. and Xie, L.

Robotics: Science and Systems 2023, 2023
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Similar Formation Control via Range and Odometry Measurements

Cao, K., Cao, M. and Xie, L.

IEEE Transactions on Cybernetics, 2023
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Distributed Control of Multirobot Sweep Coverage Over a Region With Unknown Workload Distribution

Cao, M., Cao, K., Li, X. and Xie, L.

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023
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Vision-Based Plane Estimation and Following for Building Inspection With Autonomous UAV

Lyu, Y., Cao, M., Yuan, S. and Xie, L.

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023
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SPINS: A structure priors aided inertial navigation system

Lyu, Y., Nguyen, T.M., Liu, L., Cao, M., Yuan, S., Nguyen, T.H. and Xie, L.

Journal of Field Robotics, 2023
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DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels

Cao, M., Xu, X., Yuan, S., Cao, K., Liu, K. and Xie, L.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
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AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness

Yang, Y., Yuan, S., Cao, M., Yang, J. and Xie, L.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
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DLC-SLAM: A Robust LiDAR-SLAM System With Learning-Based Denoising and Loop Closure

Liu, K. and Cao, M.

IEEE/ASME Transactions on Mechatronics, 2023
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2022

NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint

Nguyen, T.M., Yuan, S., Cao, M., Lyu, Y., Nguyen, T.H. and Xie, L.

The International Journal of Robotics Research, 2022
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2021

Distributed multi-robot sweep coverage for a region with unknown workload distribution

Cao, M., Cao, K., Li, X., Yuan, S., Lyu, Y., Nguyen, T.M. and Xie, L.

Autonomous Intelligent Systems, 2021
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LIRO: Tightly coupled lidar-inertia-ranging odometry

Nguyen, T.M., Cao, M., Yuan, S., Lyu, Y., Nguyen, T.H. and Xie, L.

IEEE International Conference on Robotics and Automation (ICRA), 2021
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DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation

Cao, K., Cao, M., Yuan, S. and Xie, L.

IEEE Robotics and Automation Letters, 2021
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MILIOM: Tightly coupled multi-input lidar-inertia odometry and mapping

Nguyen, T.M., Yuan, S., Cao, M., Lyu, Y., Nguyen, T.H. and Xie, L.

IEEE Robotics and Automation Letters, 2021
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Viral-fusion: A visual-inertial-ranging-lidar sensor fusion approach

Nguyen, T.M., Cao, M., Yuan, S., Lyu, Y., Nguyen, T.H. and Xie, L.

IEEE Transactions on Robotics, 2021
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2020

Online trajectory correction and tracking for facade inspection using autonomous UAV

Cao, M., Lyu, Y., Yuan, S. and Xie, L.

IEEE 16th International Conference on Control & Automation (ICCA), 2020
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Loosely-coupled ultra-wideband-aided scale correction for monocular visual odometry

Nguyen, T.H., Nguyen, T.M., Cao, M. and Xie, L.

Unmanned Systems, 2020
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2019

Persistently excited adaptive relative localization and time-varying formation of robot swarms

Nguyen, T.M., Qiu, Z., Nguyen, T.H., Cao, M. and Xie, L.

IEEE Transactions on Robotics, 2019
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Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments

Nguyen, T.M.*, Nguyen, T.H.*, Cao, M.*, Qiu, Z.* and Xie, L.

IEEE International Conference on Robotics and Automation (ICRA), 2019
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Distance-based cooperative relative localization for leader-following control of MAVs

Nguyen, T.M., Qiu, Z., Nguyen, T.H., Cao, M. and Xie, L.

IEEE Robotics and Automation Letters, 2019
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Single landmark distance-based navigation

Nguyen, T.M., Qiu, Z., Cao, M., Nguyen, T.H. and Xie, L.

IEEE Transactions on Control Systems Technology, 2019
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2018

Feasible computationally efficient path planning for UAV collision avoidance

Wang, H., Cao, M., Jiang, H. and Xie, L.

IEEE 14th International Conference on Control and Automation (ICCA), 2018
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An integrated localization-navigation scheme for distance-based docking of UAVs

Nguyen, T.M., Qiu, Z., Cao, M., Nguyen, T.H. and Xie, L.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
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Post-mission autonomous return and precision landing of UAV

Nguyen, T.H., Cao, M., Nguyen, T.M. and Xie, L.

15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018
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