Alan Gao

2 accepted papers

2023

Continuous Implicit SDF Based Any-Shape Robot Trajectory Optimization

Tingrui Zhang, Jingping Wang, Chao Xu, Alan Gao, Fei Gao

IROS 2023poster

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory or suffers from a huge overhead in maintaining additional infor…

Cited by 11 Source ↗code ↗Scholar ↗

2023

Polynomial-Based Online Planning for Autonomous Drone Racing in Dynamic Environments

Qianhao Wang, Dong Wang, Chao Xu, Alan Gao, Fei Gao

IROS 2023poster

In recent years, there is a noteworthy advance-ment in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of racing scenarios, coupled with the potential for unforeseeabl…

Cited by 8 Source ↗Scholar ↗