Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors

24 February 2022

Yunfan Ren

Fangcheng Zhu

Wenyi Liu

Zhepei Wang

Yi Lin

Fei Gao

Fu Zhang

ArXiv PDF HTML

Papers citing "Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors"

32 / 32 papers shown

Title
YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action Junjie Lu Yulin Hui Xuewei Zhang Wencan Feng Hongming Shen Zhiyu Li Bailing Tian 29 0 0 11 May 2025
An Efficient Real-Time Planning Method for Swarm Robotics Based on an Optimal Virtual Tube Pengda Mao Shuli Lv Chen Min Zhaolong Shen Quan Quan 27 0 0 02 May 2025
Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation Yisheng Li Longji Yin Yixi Cai Jianheng Liu Yiming Li Fu Zhang 26 0 0 10 Apr 2025
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments Linzuo Zhang Yu Hu Yang Deng Feng Yu Danping Zou 48 0 0 13 Mar 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Chao-Hua Yu Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian Xinyu Chen Fei Gao Boyu Zhou Yu Wang 57 0 0 10 Mar 2025
STORM: Spatial-Temporal Iterative Optimization for Reliable Multicopter Trajectory Generation Jinhao Zhang Zhexuan Zhou Wenlong Xia Youmin Gong Jie Mei 94 0 0 05 Mar 2025
Flying on Point Clouds with Reinforcement Learning Guangtong Xu Tianyue Wu Zihan Wang Qianhao Wang Fei Gao 3DPC 53 0 0 01 Mar 2025
Towards autonomous photogrammetric forest inventory using a lightweight under-canopy robotic drone V. Karjalainen Niko Koivumaki T. Hakala Jesse Muhojoki Eric Hyyppä Anand George J. Suomalainen E. Honkavaara 31 1 0 21 Jan 2025
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search Helene J. Levy Brett T. Lopez 42 1 0 31 Dec 2024
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera Yu Hu Yuang Zhang Yunlong Song Yang Deng Feng Yu Linzuo Zhang Weiyao Lin Danping Zou Wenxian Yu 34 3 0 07 Nov 2024
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms Fangcheng Zhu Yunfan Ren Longji Yin Fanze Kong Qingbo Liu ... Wenyi Liu Yixi Cai Guozheng Lu Haotian Li Fu Zhang 44 6 0 26 Sep 2024
LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation Wenyi Liu Yunfan Ren Rui Guo Vickie W. W. Kong Anthony S. P. Hung Fangcheng Zhu Yixi Cai Yuying Zou Fu Zhang 30 3 0 21 Sep 2024
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry Chunran Zheng Wenyuan Xu Zuhao Zou Tong Hua Chongjian Yuan ... Fangcheng Zhu Yunfan Ren Rong Wang Fanle Meng Fu Zhang 41 18 0 26 Aug 2024
Safe Bubble Cover for Motion Planning on Distance Fields Ki Myung Brian Lee Zhirui Dai Cedric Le Gentil Lan Wu Nikolay Atanasov Teresa Vidal-Calleja 33 3 0 23 Aug 2024
HEROS: Hierarchical Exploration with Online Subregion Updating for 3D Environment Coverage Shijun Long Ying Li Chenming Wu Bin Xu Wei Fan 37 0 0 16 Jul 2024
Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation Yuwei Wu Igor Spasojevic Pratik Chaudhari Vijay Kumar 42 5 0 13 Jun 2024
FlightBench: Benchmarking Learning-based Methods for Ego-vision-based Quadrotors Navigation Shu-Ang Yu Chao Yu Feng Gao Yi Wu Yu Wang 39 1 0 09 Jun 2024
Collision-Free Trajectory Optimization in Cluttered Environments with Sums-of-Squares Programming Yuling Li Chunxin Zheng Kai Chen Yusen Xie Xindong Tang Michael Yu Wang Jun Ma 30 4 0 08 Apr 2024
A GP-based Robust Motion Planning Framework for Agile Autonomous Robot Navigation and Recovery in Unknown Environments Nicholas Mohammad Jacob Higgins Nicola Bezzo 30 1 0 02 Feb 2024
Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation Zhefan Xu Kenji Shimada 19 0 0 15 Sep 2023
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition Seungchan Kim Micah Corah John Keller Graeme Best Sebastian A. Scherer 3DPC 25 8 0 27 Jul 2023
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors Yixi Cai Fanze Kong Yunfan Ren Fangcheng Zhu Jiarong Lin Fu Zhang 15 11 0 17 Jul 2023
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres Benxu Tang Yunfan Ren Fangcheng Zhu Ruijie He Siqi Liang Fanze Kong Fu Zhang 26 8 0 03 Apr 2023
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning Yunfan Ren Yixi Cai Fangcheng Zhu Siqi Liang Fu Zhang 25 14 0 28 Feb 2023
Learning Agile Flights through Narrow Gaps with Varying Angles using Onboard Sensing Yuhan Xie M. Lu Rui Peng Peng-Chen Lu 31 9 0 22 Feb 2023
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights Guozheng Lu Yixi Cai Nan Chen Fanze Kong Yunfan Ren Fu Zhang 21 13 0 22 Dec 2022
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs Fanze Kong Xiyuan Liu Benxu Tang Jiarong Lin Yunfan Ren Yixi Cai Fangcheng Zhu Nan Chen Fu Zhang 11 26 0 19 Nov 2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds Zheng Liu Xiyuan Liu Fu Zhang 3DPC 52 35 0 19 Sep 2022
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot Zhu Jian Zihong Yan Xuanang Lei Zih-Rong Lu Bin Lan Xueqian Wang Bin Liang 44 68 0 18 Sep 2022
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search Yunfan Ren Siqi Liang Fangcheng Zhu Guozheng Lu Fu Zhang 39 18 0 14 Sep 2022
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry Fangcheng Zhu Yunfan Ren Fanze Kong Huajie Wu Siqi Liang Nan Chen Wei Xu Fu Zhang 46 26 0 14 Sep 2022
Robust Real-time LiDAR-inertial Initialization Fangcheng Zhu Yunfan Ren Fu Zhang AI4CE 27 51 0 22 Feb 2022