Development control and navigation of Octocopter. - Meng Joo Er; Shenghai Yuan 001; Ning Wang 002 (ICCA, 2013)

Autonomous object level segmentation. - Shenghai Yuan 001; Han Wang 001 (ICARCV, 2014)

An automatic self-calibration approach for wide baseline stereo cameras using sea surface images. - Han Wang 001; Wei Mou; Xiaozheng Mou; Shenghai Yuan 001; Soner Ulun; Shuai Yang 002; Bok-Suk Shin (ARSO, 2015)

Vision based long range object detection and tracking for unmanned surface vehicle. - Han Wang 001; Xiaozheng Mou; Wei Mou; Shenghai Yuan 001; Soner Ulun; Shuai Yang 002; Bok-Suk Shin (RAM/CIS, 2015)

A New Approach to Train Convolutional Neural Networks for Real-Time 6-DOF Camera Relocalization. - Mahdi Abolfazli Esfahani; Keyu Wu 002; Shenghai Yuan 001; Han Wang 001 (ICCA, 2018)

Learn to Steer through Deep Reinforcement Learning. - Keyu Wu 002; Mahdi Abolfazli Esfahani; Shenghai Yuan 001; Han Wang 001 (Sensors, 2018)

Towards Utilizing Deep Uncertainty In Traditional SLAM. - Mahdi Abolfazli Esfahani; Keyu Wu 002; Shenghai Yuan 001; Han Wang 001 (ICCA, 2019)

TDPP-Net: Achieving three-dimensional path planning via a deep neural network architecture. - Keyu Wu 002; Mahdi Abolfazli Esfahani; Shenghai Yuan 001; Han Wang 001 (Neurocomputing, 2019)

DeepDSAIR: Deep 6-DOF camera relocalization using deblurred semantic-aware image representation for large-scale outdoor environments. - Mahdi Abolfazli Esfahani; Keyu Wu 002; Shenghai Yuan 001; Han Wang 001 (Image Vis. Comput., 2019)

Unsupervised Scene Categorization, Path Segmentation and Landmark Extraction while Traveling Path. - Mahdi Abolfazli Esfahani; Han Wang 001; Keyu Wu 002; Shenghai Yuan 001 (ICARCV, 2020)

Online Trajectory Correction and Tracking for Facade Inspection Using Autonomous UAV. - Muqing Cao; Yang Lyu; Shenghai Yuan 001; Lihua Xie 001 (ICCA, 2020)

From Local Understanding to Global Regression in Monocular Visual Odometry. - Mahdi Abolfazli Esfahani; Keyu Wu 002; Shenghai Yuan 001; Han Wang 001 (Int. J. Pattern Recognit. Artif. Intell., 2020)

OriNet: Robust 3-D Orientation Estimation With a Single Particular IMU. - Mahdi Abolfazli Esfahani; Han Wang 001; Keyu Wu 002; Shenghai Yuan 001 (IEEE Robotics Autom. Lett., 2020)

AbolDeepIO: A Novel Deep Inertial Odometry Network for Autonomous Vehicles. - Mahdi Abolfazli Esfahani; Han Wang 001; Keyu Wu 002; Shenghai Yuan 001 (IEEE Trans. Intell. Transp. Syst., 2020)

LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry. - Thien-Minh Nguyen; Muqing Cao; Shenghai Yuan 001; Yang Lyu; Thien Hoang Nguyen; Lihua Xie 001 (ICRA, 2021)

Learning to extract robust handcrafted features with a single observation via evolutionary neurogenesis. - Mahdi Abolfazli Esfahani; Han Wang 001; Benyamin Bashari; Keyu Wu 002; Shenghai Yuan 001 (Appl. Soft Comput., 2021)

Distributed multi-robot sweep coverage for a region with unknown workload distribution. - Muqing Cao; Kun Cao 002; Xiuxian Li; Shenghai Yuan 001; Yang Lyu; Thien-Minh Nguyen; Lihua Xie 001 (Auton. Intell. Syst., 2021)

Vision Based Autonomous UAV Plane Estimation And Following for Building Inspection. - Yang Lyu; Muqing Cao; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2021)

VIRAL SLAM: Tightly Coupled Camera-IMU-UWB-Lidar SLAM. - Thien-Minh Nguyen; Shenghai Yuan 001; Muqing Cao; Thien Hoang Nguyen; Lihua Xie 001 (CoRR, 2021)

MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping. - Thien-Minh Nguyen; Shenghai Yuan 001; Muqing Cao; Yang Lyu; Thien Hoang Nguyen; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2021)

BND*-DDQN: Learn to Steer Autonomously Through Deep Reinforcement Learning. - Keyu Wu 002; Han Wang 001; Mahdi Abolfazli Esfahani; Shenghai Yuan 001 (IEEE Trans. Cogn. Dev. Syst., 2021)

Survey on Localization Systems and Algorithms for Unmanned Systems. - Shenghai Yuan 001; Han Wang 001; Lihua Xie 001 (Unmanned Syst., 2021)

Robust RGB-D SLAM in Dynamic Environments for Autonomous Vehicles. - Tete Ji; Shenghai Yuan 001; Lihua Xie 001 (ICARCV, 2022)

Overcoming Catastrophic Forgetting for Semantic Segmentation Via Incremental Learning. - Yizhuo Yang 001; Shenghai Yuan 001; Lihua Xie 001 (ICARCV, 2022)

NEPTUNE: Non-Entangling Planning for Multiple Tethered Unmanned Vehicles. - Muqing Cao; Kun Cao 002; Shenghai Yuan 001; Thien-Minh Nguyen; Lihua Xie 001 (CoRR, 2022)

Real-time recognition and warning of mask wearing based on improved YOLOv5 R6.1. - Shenghai Yuan 001; Yudong Wang; Tiancai Liang; Wenchao Jiang; Sui Lin; Zhiming Zhao (Int. J. Intell. Syst., 2022)

NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint. - Thien-Minh Nguyen; Shenghai Yuan 001; Muqing Cao; Yang Lyu; Thien Hoang Nguyen; Lihua Xie 001 (Int. J. Robotics Res., 2022)

DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation. - Kun Cao 002; Muqing Cao; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2022)

Structure Priors Aided Visual-Inertial Navigation in Building Inspection Tasks With Auxiliary Line Features. - Yang Lyu; Shenghai Yuan 001; Lihua Xie 001 (IEEE Trans. Aerosp. Electron. Syst., 2022)

Learn to Navigate Autonomously Through Deep Reinforcement Learning. - Keyu Wu 002; Han Wang 001; Mahdi Abolfazli Esfahani; Shenghai Yuan 001 (IEEE Trans. Ind. Electron., 2022)

Achieving Real-Time Path Planning in Unknown Environments Through Deep Neural Networks. - Keyu Wu 002; Han Wang 001; Mahdi Abolfazli Esfahani; Shenghai Yuan 001 (IEEE Trans. Intell. Transp. Syst., 2022)

VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach. - Thien-Minh Nguyen; Muqing Cao; Shenghai Yuan 001; Yang Lyu; Thien Hoang Nguyen; Lihua Xie 001 (IEEE Trans. Robotics, 2022)

Multi-Modal Continual Test-Time Adaptation for 3D Semantic Segmentation. - Haozhi Cao; Yuecong Xu; Jianfei Yang; Pengyu Yin; Shenghai Yuan 001; Lihua Xie 001 (ICCV, 2023)

Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement. - Fen Liu; Shenghai Yuan 001; Wei Meng 002; Rong Su 001; Lihua Xie 001 (ICRA, 2023)

Segregator: Global Point Cloud Registration with Semantic and Geometric Cues. - Pengyu Yin; Shenghai Yuan 001; Haozhi Cao; Xingyu Ji; Shuyang Zhang; Lihua Xie 001 (ICRA, 2023)

DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels. - Muqing Cao; Xinhang Xu; Shenghai Yuan 001; Kun Cao 002; Kangcheng Liu; Lihua Xie 001 (IROS, 2023)

AirVO: An Illumination-Robust Point-Line Visual Odometry. - Kuan Xu; Yuefan Hao; Shenghai Yuan 001; Chen Wang 033; Lihua Xie 001 (IROS, 2023)

AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness. - Yizhuo Yang 001; Shenghai Yuan 001; Muqing Cao; Jianfei Yang; Lihua Xie 001 (IROS, 2023)

MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing. - Jianfei Yang; He Huang; Yunjiao Zhou; Xinyan Chen 002; Yuecong Xu; Shenghai Yuan 001; Han Zou; Chris Xiaoxuan Lu; Lihua Xie 001 (NeurIPS, 2023)

Path Planning for Multiple Tethered Robots Using Topological Braids. - Muqing Cao; Kun Cao 002; Shenghai Yuan 001; Kangcheng Liu; Yan Loi Wong; Lihua Xie 001 (Robotics: Science and Systems, 2023)

VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors. - Thien Hoang Nguyen; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2023)

GaitFi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning. - Lang Deng; Jianfei Yang; Shenghai Yuan 001; Han Zou; Chris Xiaoxuan Lu; Lihua Xie 001 (IEEE Internet Things J., 2023)

SE-Calib: Semantic Edge-Based LiDAR-Camera Boresight Online Calibration in Urban Scenes. - Youqi Liao; Jianping Li 004; Shuhao Kang; Qiang Li; Guifang Zhu; Shenghai Yuan 001; Zhen Dong 005; Bisheng Yang (IEEE Trans. Geosci. Remote. Sens., 2023)

SLICT: Multi-Input Multi-Scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping. - Thien-Minh Nguyen; Daniel Duberg; Patric Jensfelt; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2023)

SPINS: A structure priors aided inertial navigation system. - Yang Lyu; Thien-Minh Nguyen; Liu Liu; Muqing Cao; Shenghai Yuan 001; Thien Hoang Nguyen; Lihua Xie 001 (J. Field Robotics, 2023)

MetaFi++: WiFi-Enabled Transformer-Based Human Pose Estimation for Metaverse Avatar Simulation. - Yunjiao Zhou; He Huang; Shenghai Yuan 001; Han Zou; Lihua Xie 001; Jianfei Yang (IEEE Internet Things J., 2023)

NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles. - Muqing Cao; Kun Cao 002; Shenghai Yuan 001; Thien-Minh Nguyen; Lihua Xie 001 (IEEE Trans. Robotics, 2023)

Vision-Based Plane Estimation and Following for Building Inspection With Autonomous UAV. - Yang Lyu; Muqing Cao; Shenghai Yuan 001; Lihua Xie 001 (IEEE Trans. Syst. Man Cybern. Syst., 2023)

MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception. - Thien-Minh Nguyen; Shenghai Yuan 001; Thien Hoang Nguyen; Pengyu Yin; Haozhi Cao; Lihua Xie 001; Maciej K. Wozniak 001; Patric Jensfelt; Marko Thiel 002; Justin Ziegenbein; Noel Blunder (CVPR, 2024)

Reliable Spatial-Temporal Voxels For Multi-modal Test-Time Adaptation. - Haozhi Cao; Yuecong Xu; Jianfei Yang; Pengyu Yin; Xingyu Ji; Shenghai Yuan 001; Lihua Xie 001 (ECCV (28), 2024)

A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System. - Xinhang Xu; Muqing Cao; Shenghai Yuan 001; Thien Hoang Nguyen; Thien-Minh Nguyen; Lihua Xie 001 (ICCA, 2024)

MoPA: Multi-Modal Prior Aided Domain Adaptation for 3D Semantic Segmentation. - Haozhi Cao; Yuecong Xu; Jianfei Yang; Pengyu Yin; Shenghai Yuan 001; Lihua Xie 001 (ICRA, 2024)

Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method. - Qiuhao Li; Shenghai Yuan 001 (ICRA, 2024)

Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning. - Pengyu Yin; Haozhi Cao; Thien-Minh Nguyen; Shenghai Yuan 001; Shuyang Zhang; Kangcheng Liu; Lihua Xie 001 (ICRA, 2024)

MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats. - Shenghai Yuan 001; Yizhuo Yang 001; Thien Hoang Nguyen; Thien-Minh Nguyen; Jianfei Yang; Fen Liu; Jianping Li 004; Han Wang 001; Lihua Xie 001 (ICRA, 2024)

PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing. - Jianping Li 004; Thien-Minh Nguyen; Shenghai Yuan 001; Lihua Xie 001 (IROS, 2024)

Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization. - Ruofei Bai; Shenghai Yuan 001; Hongliang Guo 003; Pengyu Yin; Wei-Yun Yau; Lihua Xie 001 (IROS, 2024)

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry. - Wenlu Yu; Jie Xu; Chengwei Zhao; Lijun Zhao 003; Thien-Minh Nguyen; Shenghai Yuan 001; Mingming Bai; Lihua Xie 001 (IROS, 2024)

Compact 3D Gaussian Splatting For Dense Visual SLAM. - Tianchen Deng; Yaohui Chen 003; Leyan Zhang; Jianfei Yang; Shenghai Yuan 001; Danwei Wang; Weidong Chen 001 (CoRR, 2024)

HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System. - Jianping Li 004; Shenghai Yuan 001; Muqing Cao; Thien-Minh Nguyen; Kun Cao 002; Lihua Xie 001 (CoRR, 2024)

Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenes. - Tianchen Deng; Nailin Wang; Chongdi Wang; Shenghai Yuan 001; Jingchuan Wang; Danwei Wang; Weidong Chen 001 (CoRR, 2024)

Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization. - Ruofei Bai; Shenghai Yuan 001; Hongliang Guo 003; Pengyu Yin; Wei-Yun Yau; Lihua Xie 001 (CoRR, 2024)

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry. - Wenlu Yu; Jie Xu; Chengwei Zhao; Lijun Zhao 003; Thien-Minh Nguyen; Shenghai Yuan 001; Mingming Bai; Lihua Xie 001 (CoRR, 2024)

HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions. - Jianping Li 004; Qiutong Leng; Jinxing Liu; Xinhang Xu; Tongxin Jin; Muqing Cao; Thien-Minh Nguyen; Shenghai Yuan 001; Kun Cao 002; Lihua Xie 001 (CoRR, 2024)

Distance-based Multiple Non-cooperative Ground Target Encirclement for Complex Environments. - Fen Liu; Shenghai Yuan 001; Kun Cao 002; Wei Meng 002; Lihua Xie 001 (CoRR, 2024)

AIR-Embodied: An Efficient Active 3DGS-based Interaction and Reconstruction Framework with Embodied Large Language Model. - Zhenghao Qi; Shenghai Yuan 001; Fen Liu; Haozhi Cao; Tianchen Deng; Jianfei Yang; Lihua Xie 001 (CoRR, 2024)

GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation. - Thien-Minh Nguyen; Ziyu Cao; Kailai Li 001; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2024)

An Efficient Scene Coordinate Encoding and Relocalization Method. - Kuan Xu; Zeyu Jiang; Haozhi Cao; Shenghai Yuan 001; Chen Wang 033; Lihua Xie 001 (CoRR, 2024)

Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs. - Tianxin Hu; Shenghai Yuan 001; Ruofei Bai; Xinghang Xu; Yuwen Liao; Fen Liu; Lihua Xie 001 (CoRR, 2024)

AV-DTEC: Self-Supervised Audio-Visual Fusion for Drone Trajectory Estimation and Classification. - Zhenyuan Xiao; Yizhuo Yang 001; Guili Xu; Xianglong Zeng; Shenghai Yuan 001 (CoRR, 2024)

Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM. - Jie Xu; Guanyu Huang; Wenlu Yu; Xuanxuan Zhang 002; Lijun Zhao 003; Ruifeng Li; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2024)

LIO-GVM: An Accurate, Tightly-Coupled Lidar-Inertial Odometry With Gaussian Voxel Map. - Xingyu Ji; Shenghai Yuan 001; Pengyu Yin; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2024)

iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry. - Zijie Chen; Yong Xu 003; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2024)

Multiple Noncooperative Targets Encirclement by Relative Distance-Based Positioning and Neural Antisynchronization Control. - Fen Liu; Shenghai Yuan 001; Wei Meng 002; Rong Su 001; Lihua Xie 001 (IEEE Trans. Ind. Electron., 2024)

Salient Sparse Visual Odometry With Pose-Only Supervision. - Siyu Chen 036; Kangcheng Liu; Chen Wang 033; Shenghai Yuan 001; Jianfei Yang; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2024)

Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry With Internal Association. - Thien-Minh Nguyen; Xinhang Xu; Tongxing Jin; Yizhuo Yang 001; Jianping Li 004; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2024)

M-DIVO: Multiple ToF RGB-D Cameras-Enhanced Depth-Inertial-Visual Odometry. - Jie Xu; Wenlu Yu; Song Huang; Shenghai Yuan 001; Lijun Zhao 003; Ruifeng Li; Lihua Xie 001 (IEEE Internet Things J., 2024)

SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment. - Xingyu Ji; Shenghai Yuan 001; Jianping Li 004; Pengyu Yin; Haozhi Cao; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2024)

MNE-SLAM: Multi-Agent Neural SLAM for Mobile Robots. - Tianchen Deng; Guole Shen; Chen Xun; Shenghai Yuan 001; Tongxin Jin; Hongming Shen; Yanbo Wang; Jingchuan Wang; Hesheng Wang 001; Danwei Wang; Weidong Chen 001 (CVPR, 2025)

Audio Array-Based 3D UAV Trajectory Estimation with LiDAR Pseudo-Labeling. - Allen H.-X. Lei; Tianchen Deng; Han Wang 001; Jianfei Yang; Shenghai Yuan 001 (ICASSP, 2025)

Unsupervised UAV 3D Trajectories Estimation with Sparse Point Clouds. - Hanfang Liang; Yizhuo Yang 001; Jinming Hu; Jianfei Yang; Fen Liu; Shenghai Yuan 001 (ICASSP, 2025)

UAVScenes: A Multi-Modal Dataset for UAVs. - Sijie Wang; Siqi Li; Yawei Zhang; Shangshu Yu; Shenghai Yuan 001; Rui She 001; Quanjiang Guo; Jinxuan Zheng; Ong Kang Howe; Leonrich Chandra; Shrivarshann Srijeyan; Aditya Sivadas; et al. (ICCV, 2025)

Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles. - Ruofei Bai; Shenghai Yuan 001; Kun Li 028; Hongliang Guo 003; Wei-Yun Yau; Lihua Xie 001 (ICRA, 2025)

Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs. - Tianxin Hu; Shenghai Yuan 001; Ruofei Bai; Xinhang Xu; Yuwen Liao; Fen Liu; Lihua Xie 001 (ICRA, 2025)

GERA: Geometric Embedding for Efficient Point Registration Analysis. - Geng Li; Haozhi Cao; Mingyang Liu; Shenghai Yuan 001; Jianfei Yang (ICRA, 2025)

HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions. - Jianping Li 004; Qiutong Leng; Jinxin Liu; Xinhang Xu; Tongxin Jin; Muqing Cao; Thien-Minh Nguyen; Shenghai Yuan 001; Kun Cao 002; Lihua Xie 001 (ICRA, 2025)

ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges. - Thien-Minh Nguyen; Yizhuo Yang 001; Tien-Dat Nguyen; Shenghai Yuan 001; Lihua Xie 001 (ICRA, 2025)

Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process. - Shenghai Yuan 001; Boyang Lou; Thien-Minh Nguyen; Pengyu Yin; Muqing Cao; Xinghang Xu; Jianping Li 004; Jie Xu; Siyu Chen 036; Lihua Xie 001 (ICRA, 2025)

BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure. - Haoxin Cai; Shenghai Yuan 001; Xinyi Li; Junfeng Guo; Jianqi Liu (IROS, 2025)

CGS-SLAM: Compact 3D Gaussian Splatting for Dense Visual SLAM. - Tianchen Deng; Yaohui Chen 003; Jianfei Yang; Shenghai Yuan 001; Jiuming Liu; Danwei Wang; Weidong Chen 001 (IROS, 2025)

LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System. - Jianping Li 004; Zhongyuan Liu; Xinhang Xu; Xiong Qin; Jinxin Liu; Shenghai Yuan 001; Fang Xu; Lihua Xie 001 (IROS, 2025)

AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones. - Xiaowei Li; Kuan Xu; Fen Liu; Ruofei Bai; Shenghai Yuan 001; Lihua Xie 001 (IROS, 2025)

Underwater target 6D State Estimation via UUV Attitude Enhance Observability. - Fen Liu; Chengfeng Jia; Na Zhang; Shenghai Yuan 001; Rong Su 001 (IROS, 2025)

Autonomous 3D Moving Target Encirclement and Interception with Range Measurement. - Fen Liu; Shenghai Yuan 001; Thien-Minh Nguyen; Rong Su 001 (IROS, 2025)

QLIO: Quantized LiDAR-Inertial Odometry. - Boyang Lou; Shenghai Yuan 001; Jianfei Yang; Wenju Su; Yingjian Zhang; Enwen Hu (IROS, 2025)

DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving. - Weiming Qu; Jiawei Du; Shenghai Yuan 001; Jia Wang; Yang Sun; Shengyi Liu; Yuanhao Zhu; Jiayi Rao; Jianfeng Yu; Song Cao; Rui Xia; Xiaoyu Tang; et al. (IROS, 2025)

NVP-HRI: Zero shot natural voice and posture-based human-robot interaction via large language model. - Yuzhi Lai; Shenghai Yuan 001; Youssef Nassar; Mingyu Fan; Thomas Weber; Matthias Rätsch (Expert Syst. Appl., 2025)

Incremental Joint Learning of Depth, Pose, and Implicit Scene Representation on Monocular Camera in Large-Scale Scenes. - Tianchen Deng; Nailin Wang; Chongdi Wang; Shenghai Yuan 001; Jingchuan Wang; Hesheng Wang 001; Danwei Wang; Weidong Chen 001 (IEEE Trans Autom. Sci. Eng., 2025)

LL-Localizer: A Lifelong Localization System Based on Dynamic i-Octree. - Xinyi Li; Shenghai Yuan 001; Haoxin Cai; Shunan Lu; Wenhua Wang; Jianqi Liu (IEEE Trans. Instrum. Meas., 2025)

Relative Localizability and Localization for Multirobot Systems. - Liangming Chen; Chenyang Liang; Shenghai Yuan 001; Muqing Cao; Lihua Xie 001 (IEEE Trans. Robotics, 2025)

AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System. - Kuan Xu; Yuefan Hao; Shenghai Yuan 001; Chen Wang 033; Lihua Xie 001 (IEEE Trans. Robotics, 2025)

NMM-HRI: Natural Multi-modal Human-Robot Interaction with Voice and Deictic Posture via Large Language Model. - Yuzhi Lai; Shenghai Yuan 001; Youssef Nassar; Mingyu Fan; Atmaraaj Gopal; Akihiro Yorita; Naoyuki Kubota; Matthias Rätsch (CoRR, 2025)

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned. - Muqing Cao; Thien-Minh Nguyen; Shenghai Yuan 001; Andreas Anastasiou; Angelos Zacharia; Savvas Papaioannou; Panayiotis Kolios; Christos G. Panayiotou; Marios M. Polycarpou; Xinhang Xu; Mingjie Zhang; Fei Gao 011; et al. (CoRR, 2025)

Robust Loop Closure by Textual Cues in Challenging Environments. - Tongxing Jin; Thien-Minh Nguyen; Xinhang Xu; Yizhuo Yang 001; Shenghai Yuan 001; Jianping Li 004; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2025)

Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments. - Fen Liu; Shenghai Yuan 001; Kun Cao 002; Wei Meng 002; Lihua Xie 001 (IEEE Trans. Control. Syst. Technol., 2025)

MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments. - Yongxin Ma; Jie Xu; Shenghai Yuan 001; Tian Zhi; Wenlu Yu; Jun Zhou; Lihua Xie 001 (IEEE Trans. Intell. Veh., 2025)

LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System. - Jianping Li 004; Zhongyuan Liu; Xinhang Xu; Jinxin Liu; Shenghai Yuan 001; Fang Xu; Lihua Xie 001 (CoRR, 2025)

Handle Object Navigation as Weighted Traveling Repairman Problem. - Ruimeng Liu; Xinhang Xu; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech. - Yuzhi Lai; Shenghai Yuan 001; Boya Zhang; Benjamin Kiefer; Peizheng Li; Andreas Zell (CoRR, 2025)

Dynamic Initialization for LiDAR-inertial SLAM. - Jie Xu; Yongxin Ma; Yixuan Li; Xuanxuan Zhang 002; Jun Zhou; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

LL-Localizer: A Life-Long Localization System based on Dynamic i-Octree. - Xinyi Li; Shenghai Yuan 001; Haoxin Cai; Shunan Lu; Wenhua Wang; Jianqi Liu (CoRR, 2025)

DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving. - Weiming Qu; Jiawei Du; Shenghai Yuan 001; Jia Wang; Yang Sun; Shengyi Liu; Yuanhao Zhu; Jianfeng Yu; Song Cao; Rui Xia; Xiaoyu Tang; Xihong Wu; et al. (CoRR, 2025)

UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry. - Jianping Li 004; Xinhang Xu; Jinxin Liu; Kun Cao 002; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2025)

Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion. - Yizhuo Yang 001; Jiulin Zhao; Xinhang Xu; Kun Cao 002; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenes. - Tianchen Deng; Wenhua Wu; Junjie He; Yue Pan; Xirui Jiang 001; Shenghai Yuan 001; Danwei Wang; Hesheng Wang 001; Weidong Chen 001 (CoRR, 2025)

Adaptive-LIO: Enhancing Robustness and Precision Through Environmental Adaptation in LiDAR Inertial Odometry. - Chengwei Zhao; Kun Hu 016; Jie Xu; Lijun Zhao 003; Baiwen Han; Kaidi Wu; Maoshan Tian; Shenghai Yuan 001 (IEEE Internet Things J., 2025)

A Fast and Light-Weight NonIterative Visual Odometry with RGB-D Cameras. - Zheng Yang; Kuan Xu; Shenghai Yuan 001; Lihua Xie 001 (Unmanned Syst., 2025)

Tire Wear Aware Trajectory Tracking Control for Multi-axle Swerve-drive Autonomous Mobile Robots. - Tianxin Hu; Xinhang Xu; Thien-Minh Nguyen; Fen Liu; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation. - Tianchen Deng; Guole Shen; Xun Chen; Shenghai Yuan 001; Hongming Shen; Guohao Peng; Zhenyu Wu 001; Jingchuan Wang; Lihua Xie 001; Danwei Wang; Hesheng Wang 001; Weidong Chen 001 (CoRR, 2025)

Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues. - Hanfang Liang; Shenghai Yuan 001; Fen Liu; Yizhuo Yang 001; Bing Wang; Zhuyu Huang; Chenyang Shi; Jing Jin (CoRR, 2025)

Structured Task Solving via Modular Embodied Intelligence: A Case Study on Rubik's Cube. - Chongshan Fan; Shenghai Yuan 001 (CoRR, 2025)

A Fast and Light-weight Non-Iterative Visual Odometry with RGB-D Cameras. - Zheng Yang; Kuan Xu; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

DOA: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability based on Deep Reinforcement Learning. - Yanbin Li; Canran Xiao; Hongyang He; Shenghai Yuan 001; Zong Ke; Jiajie Yu; Zixiong Qin; Zhiguo Zhang; Wenzheng Chi; Wei Zhang (CoRR, 2025)

CleanUpBench: Embodied Sweeping and Grasping Benchmark. - Wenbo Li; Guanting Chen; Tao Zhao; Jiyao Wang; Tianxin Hu; Yuwen Liao; Weixiang Guo; Shenghai Yuan 001 (CoRR, 2025)

EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events. - Siyu Chen 036; Shenghai Yuan 001; Thien-Minh Nguyen; Zhuyu Huang; Chenyang Shi; Jin Jing; Lihua Xie 001 (CoRR, 2025)

SEER-VAR: Semantic Egocentric Environment Reasoner for Vehicle Augmented Reality. - Yuzhi Lai; Shenghai Yuan 001; Peizheng Li; Jun Lou; Andreas Zell (CoRR, 2025)

AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes. - Jianping Li 004; Xinhang Xu; Zhongyuan Liu; Shenghai Yuan 001; Muqing Cao; Lihua Xie 001 (CoRR, 2025)

DVDP: An End-to-End Policy for Mobile Robot Visual Docking with RGB-D Perception. - Haohan Min; Zhoujian Li; Yu Yang; Jinyu Chen; Shenghai Yuan 001 (CoRR, 2025)

CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling. - Hanfang Liang; Bing Wang; Shizhen Zhang; Wen Jiang; Yizhuo Yang 001; Weixiang Guo; Shenghai Yuan 001 (CoRR, 2025)

PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots. - Shenghai Yuan 001; Jason Wai Hao Yee; Weixiang Guo; Zhongyuan Liu; Thien-Minh Nguyen; Lihua Xie 001 (CoRR, 2025)

Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power. - Tianxin Hu; Weixiang Guo; Ruimeng Liu; Xinhang Xu; Rui Qian 005; Jinyu Chen; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response. - Shenghai Yuan 001; Weixiang Guo; Tianxin Hu; Yu Yang; Jinyu Chen; Rui Qian 005; Zhongyuan Liu; Lihua Xie 001 (CoRR, 2025)

SignalLLM: A General-Purpose LLM Agent Framework for Automated Signal Processing. - Junlong Ke; Qiying Hu; Shenghai Yuan 001; Yuecong Xu; Jianfei Yang (CoRR, 2025)

Gaussian Semantic Field for One-shot LiDAR Global Localization. - Pengyu Yin; Shenghai Yuan 001; Haozhi Cao; Xingyu Ji; Ruofei Bai; Siyu Chen 036; Lihua Xie 001 (CoRR, 2025)

EGS-SLAM: RGB-D Gaussian Splatting SLAM With Events. - Siyu Chen 036; Shenghai Yuan 001; Thien-Minh Nguyen; Zhuyu Huang; Chenyang Shi; Jing Jin; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2025)

Following is All You Need: Robot Crowd Navigation Using People as Planners. - Yuwen Liao; Xinhang Xu; Ruofei Bai; Yizhuo Yang 001; Muqing Cao; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2025)

Enhancing Scene Coordinate Regression With Efficient Keypoint Detection and Sequential Information. - Kuan Xu; Zeyu Jiang; Haozhi Cao; Shenghai Yuan 001; Chen Wang 033; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2025)

GVD-TG: Topological Graph based on Fast Hierarchical GVD Sampling for Robot Exploration. - Yanbin Li; Canran Xiao; Shenghai Yuan 001; Peilai Yu; Ziruo Li; Zhiguo Zhang; Wenzheng Chi; Wei Zhang (CoRR, 2025)

Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment With Progressive Spatial Smoothing. - Jianping Li 004; Thien-Minh Nguyen; Muqing Cao; Shenghai Yuan 001; Tzu-Yi Hung; Lihua Xie 001 (IEEE Trans. Intell. Transp. Syst., 2025)

TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion. - Rui Qian 005; Haozhi Cao; Tianchen Deng; Tianxin Hu; Weixiang Guo; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2025)

What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models. - Tianchen Deng; Yue Pan; Shenghai Yuan 001; Dong Li; Chen Wang 033; Mingrui Li; Long Chen; Lihua Xie 001; Danwei Wang; Jingchuan Wang; Javier Civera 001; Hesheng Wang 001; et al. (CoRR, 2025)

Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer. - Tianchen Deng; Wenhua Wu; Kunzhen Wu; Guangming Wang 001; Siting Zhu 001; Shenghai Yuan 001; Xun Chen; Guole Shen; Zhe Liu 022; Hesheng Wang 001 (CoRR, 2025)

SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion. - Rui Qian 005; Haozhi Cao; Tianchen Deng; Shenghai Yuan 001; Lihua Xie 001 (AAAI, 2026)

Aerial target encirclement and interception with noisy range observations. - Fen Liu; Shenghai Yuan 001; Thien-Minh Nguyen; Wei Meng 002; Lihua Xie 001 (Autom., 2026)

UNO: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment. - Wentao Zhao; Yihe Niu; Yanbo Wang; Tianchen Deng; Shenghai Yuan 001; Zhenli Wang; Rui Guo; Jingchuan Wang (CAAI Trans. Intell. Technol., 2026)

Modeling multi-segment acceleration for event camera rotation estimation. - Chenyang Shi; Yuqing He; Wenzhuo Li; Weijun Ding; Ningfang Song; Shenghai Yuan 001; Jing Jin (Pattern Recognit., 2026)

FAM-HRI: Foundation-Model Assisted Multimodal Human-Robot Interaction Combining Gaze and Speech. - Yuzhi Lai; Shenghai Yuan 001; Peizheng Li; Boya Zhang; Benjamin Kiefer; Tianchen Deng; Andreas Zell (IEEE Trans Autom. Sci. Eng., 2026)

NVMS-SLAM: Normal Vector-Based Multi-Session LiDAR SLAM in Indoor Environments. - Yongxin Ma; Chengwei Zhao; Jie Xu; Yixuan Li; Xuanxuan Zhang 002; Shenghai Yuan 001; Lihua Xie 001 (IEEE Trans Autom. Sci. Eng., 2026)

ReCCur: A Recursive Corner-Case Curation Framework for Robust Vision-Language Understanding in Open and Edge Scenarios. - Yihan Wei; Shenghai Yuan 001; Tianchen Deng; Boyang Lou; Enwen Hu (CoRR, 2026)

ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map. - Jie Xu; Xuanxuan Zhang 002; Yongxin Ma; Yixuan Li; Linji Wang; Xinhang Xu; Shenghai Yuan 001; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2026)

Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environment. - Denan Liang; Yuan Zhu; Ruimeng Liu; Thien-Minh Nguyen; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2026)

Task-Level Decisions to Gait Level Control: A Hierarchical Policy Approach for Quadruped Navigation. - Sijia Li; Haoyu Wang; Shenghai Yuan 001; Yizhuo Yang 001; Thien-Minh Nguyen (CoRR, 2026)

Sticky-Glance: Robust Intent Recognition for Human Robot Collaboration via Single-Glance. - Yuzhi Lai; Shenghai Yuan 001; Peizheng Li; Andreas Zell (CoRR, 2026)

PanoDP: Learning Collision-Free Navigation with Panoramic Depth and Differentiable Physics. - Hao Zhong; Pei Chi; Jiang Zhao; Shenghai Yuan 001; Xuyang Gao; Thien-Minh Nguyen; Lihua Xie 001 (CoRR, 2026)

Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage. - Zhuoran Qiao; Tianxin Hu; Thien-Minh Nguyen; Shenghai Yuan 001 (CoRR, 2026)

3D UAV Trajectory Estimation and Classification from Internet Videos via Language Model. - Haoxiang Lei; Daotong Wang; Shenghai Yuan 001; Jianbo Su (CoRR, 2026)

Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies. - Junhe Sheng; Ruofei Bai; Kuan Xu; Ruimeng Liu; Jie Chen 003; Shenghai Yuan 001; Wei-Yun Yau; Lihua Xie 001 (CoRR, 2026)

RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy. - Zhenhang Yuan; Shenghai Yuan 001; Lihua Xie 001 (CoRR, 2026)

Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions. - Ruofei Bai; Shenghai Yuan 001; Xinhang Xu; Xingyu Ji; Xiaowei Li; Hongliang Guo 003; Wei-Yun Yau; Lihua Xie 001 (CoRR, 2026)

Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems. - Zijie Chen; Xiaowei Liu; Yong Xu 003; Shenghai Yuan 001; Jianping Li 004; Lihua Xie 001 (IEEE Robotics Autom. Lett., 2026)

A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration. - Kuan Xu; Ruimeng Liu; Yizhuo Yang 001; Denan Liang; Tongxing Jin; Shenghai Yuan 001; Chen Wang 033; Lihua Xie 001 (CoRR, 2026)

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-Uncrewed-Aerial-Vehicle Planning and Lessons Learned. - Muqing Cao; Thien-Minh Nguyen; Shenghai Yuan 001; Andreas Anastasiou; Angelos Zacharia; Savvas Papaioannou; Panayiotis Kolios; Christos G. Panayiotou; Marios M. Polycarpou; Xinhang Xu; Mingjie Zhang; Fei Gao 011; et al. (IEEE Robotics Autom. Mag., 2026)

Natural Multimodal Fusion-Based Human-Robot Interaction: Application With Voice and Deictic Posture via Large Language Model. - Yuzhi Lai; Shenghai Yuan 001; Youssef Nassar; Mingyu Fan; Atmaraaj Gopal; Arihiro Yorita; Naoyuki Kubota; Matthias Rätsch (IEEE Robotics Autom. Mag., 2026)