Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments Using Occlusion-Free Spheres. - Benxu Tang; Yunfan Ren; Fangcheng Zhu; Rui He; Siqi Liang 004; Fanze Kong; Fu Zhang 002 (IROS, 2023)

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 002 (IEEE Robotics Autom. Lett., 2023)

Real-time Bandwidth-efficient Occupancy Grid Map Synchronization for Multi-Robot Systems. - Liuyu Shi; Longji Yin; Fanze Kong; Yunfan Ren; Fangcheng Zhu; Benxu Tang; Fu Zhang 002 (IROS, 2024)