Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration. - Zezhou Sun; Banghe Wu; Cheng-Zhong Xu 001; Sanjay E. Sarma; Jian Yang 003; Hui Kong 001 (IROS, 2020)

Ada-Detector: Adaptive Frontier Detector for Rapid Exploration. - Zezhou Sun; Banghe Wu; Chengzhong Xu 001; Hui Kong 001 (ICRA, 2022)

LURM: A LiDAR-based Urban Road-Map Representation. - Banghe Wu (RICAI, 2022)

LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment. - Banghe Wu; Cheng-Zhong Xu 001; Hui Kong 001 (Field Robotics, 2023)

Concave-Hull Induced Graph-Gain for Fast and Robust Robotic Exploration. - Zezhou Sun; Banghe Wu; ChengZhong Xu 001; Hui Kong 001 (IEEE Robotics Autom. Lett., 2023)