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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Muqing Cao's Home Page
About me
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Posts
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Blog Post number 4
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Blog Post number 3
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Blog Post number 2
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Blog Post number 1
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portfolio
Portfolio item number 1
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projects
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.
Real-time Intelligent Planning and Control System
In collaboration with Perceptronics Solutions, we develop intelligent multi-robot planning algorithms for search and tracking multiple targets in large open space.
DAPRA Triage Challenge
In collaboration with Perceptronics Solutions, we develop intelligent multi-robot planning algorithms for search and tracking multiple targets in large open space.
publications
Feasible computationally efficient path planning for UAV collision avoidance
Wang, H., Cao, M., Jiang, H. and Xie, L.
Published in IEEE 14th International Conference on Control and Automation (ICCA), 2018
We developed a computationally efficient path planning algorithm for UAV collision avoidance that ensures feasibility.
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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.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
We proposed an integrated localization-navigation scheme for distance-based docking of UAVs using distance measurements.
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Post-mission autonomous return and precision landing of UAV
Nguyen, T.H., Cao, M., Nguyen, T.M. and Xie, L.
Published in 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018
We developed an autonomous return and precision landing system for UAVs after mission completion.
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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.
Published in IEEE Transactions on Robotics, 2019
We developed an adaptive relative localization and time-varying formation control method for robot swarms with persistent excitation.
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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.
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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Distance-based cooperative relative localization for leader-following control of MAVs
Nguyen, T.M., Qiu, Z., Nguyen, T.H., Cao, M. and Xie, L.
Published in IEEE Robotics and Automation Letters, 2019
We proposed a distance-based cooperative relative localization method for leader-following control of multiple aerial vehicles.
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Single landmark distance-based navigation
Nguyen, T.M., Qiu, Z., Cao, M., Nguyen, T.H. and Xie, L.
Published in IEEE Transactions on Control Systems Technology, 2019
We proposed a single landmark distance-based navigation approach for autonomous systems.
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Online trajectory correction and tracking for facade inspection using autonomous UAV
Cao, M., Lyu, Y., Yuan, S. and Xie, L.
Published in IEEE 16th International Conference on Control & Automation (ICCA), 2020
We developed an online trajectory correction and tracking system for autonomous UAV facade inspection.
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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.
Published in Unmanned Systems, 2020
We developed a loosely-coupled ultra-wideband-aided scale correction method for monocular visual odometry.
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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.
Published in Autonomous Intelligent Systems, 2021
We introduced a coverage control algorithm for multi-robot sweep coverage in a region with unknown and uneven workload distribution.
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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.
Published in IEEE International Conference on Robotics and Automation (ICRA), 2021
We developed a tightly coupled lidar-inertia-ranging odometry system for robust localization.
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DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation
Cao, K., Cao, M., Yuan, S. and Xie, L.
Published in IEEE Robotics and Automation Letters, 2021
We introduced a novel polynomial trajectory optimization algorithm leveraging differential dynamic programming for efficient trajectory generation.
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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.
Published in IEEE Robotics and Automation Letters, 2021
We developed a tightly coupled multi-input lidar-inertia odometry and mapping system for robust SLAM.
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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.
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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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.
Published in The International Journal of Robotics Research, 2022
We released a comprehensive visual-inertial-ranging-lidar dataset from an aerial vehicle viewpoint for research community.
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System identification and control of the ground operation mode of a hybrid aerial–ground robot
Cao, M., Xu, X., Cao, K. and Xie, L.
Published in Control Theory and Technology, 2023
We developed system identification and control methods for the ground operation mode of hybrid aerial-ground robots.
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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.
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
Cao, M., Cao, K., Yuan, S., Liu, K., Wong, Y.L. and Xie, L.
Published in Robotics: Science and Systems 2023, 2023
We proposed a path planning algorithm for multiple tethered robot with guaranteed non-entanglement, leveraging the theory of topological braids.
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Similar Formation Control via Range and Odometry Measurements
Cao, K., Cao, M. and Xie, L.
Published in IEEE Transactions on Cybernetics, 2023
We developed a similar formation control approach using range and odometry measurements for multi-robot systems.
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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.
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.
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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.
Published in IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023
We developed a vision-based plane estimation and following system for autonomous UAV building inspection.
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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.
Published in Journal of Field Robotics, 2023
We developed a structure priors aided inertial navigation system for improved localization accuracy.
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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.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
We introduced a novel hybrid aerial-ground robot capable of climbing slope, flying over obstacles and crawling under barriers.
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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.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
We developed a self-supervised audio-visual fusion approach for dynamic pedestrian awareness in autonomous systems.
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DLC-SLAM: A Robust LiDAR-SLAM System With Learning-Based Denoising and Loop Closure
Liu, K. and Cao, M.
Published in IEEE/ASME Transactions on Mechatronics, 2023
We developed a robust LiDAR-SLAM system with learning-based denoising and loop closure capabilities.
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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.
Published in IEEE 18th International Conference on Control & Automation (ICCA), 2024
We developed a cost-effective cooperative exploration and inspection strategy for heterogeneous aerial systems.
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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.
Published in ISPRS Journal of Photogrammetry and Remote Sensing, 2024
We developed an optimality-aware LiDAR inertial odometry system with hybrid continuous time optimization for compact wearable mapping.
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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.
Published in IEEE Robotics and Automation Letters, 2024
We developed a novel hybrid aerial-ground bi-copter robot with two actuated-wheel-rotors for versatile locomotion.
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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.
Published in Journal of Automation and Intelligence, 2024
We developed an audio-visual fusion approach for drone threat identification in anti-UAV applications.
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AirCrab: A Hybrid Aerial-Ground Manipulator with An Active Wheel
Cao, M., Zhao, J., Xu, X. and Xie, L.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
AirCrab is a hybrid aerial ground manipulator (HAGM) with an active wheel and a 3-DoF manipulator.
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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.
Published in Journal of Automation and Intelligence, 2024
We developed a data-driven control method for ground locomotion on sloped terrain for hybrid aerial-ground robots.
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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.
Published in IEEE International Conference on Robotics and Automation (ICRA), 2025
We propose a dynamic weight adjustment scheme using a neural network to predict the optimal weights of objectives in an optimization-based motion planner.
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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.
Published in IEEE International Conference on Robotics and Automation (ICRA), 2025
We developed an adaptive theory-of-mind-based approach for human motion prediction in long-term human-robot interactions.
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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.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
We developed a pathwise information gain planner with map predictions for efficient indoor robot exploration.
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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.
Published in IEEE Robotics and Automation Letters, 2025
We developed a robot crowd navigation approach that uses people as planners for improved navigation performance.
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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.
Published in IEEE Robotics & Automation Magazine, 2025
We organized a simulation-based challenge to design efficient solutions for multi-UAV collaborative inspection of large structures.
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Relative localizability and localization for multi-robot systems
Chen, L., Liang, C., Yuan, S., Cao, M. and Xie, L.
Published in IEEE Transactions on Robotics, 2025
We developed a framework for relative localizability and localization in multi-robot systems.
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talks
Talk 1 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
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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