Daqi Zhu — accepted AI-conference papers

2025

A Tightly Coupled Inertial-Sonar Fusion for Localization of Underwater Robots

Jibo Bai, Daqi Zhu, Mingzhi Chen, Yuan Liu, Hongfei Li

IROS 2025

This paper proposes a tightly coupled fusion method for inertial and forward-looking sonar (FLS) data, integrating underwater image observations from the FLS into the inertial odometry for underwater robot localization. Since the FLS images provide only horizontal plane information, this work focuse

Cited by 0 Source ↗Scholar ↗

2025

Incremental Sparse Gaussian Process-Based Model Predictive Control for Trajectory Tracking of Unmanned Underwater Vehicles

Yukun Dang, Yao Huang, Xuyu Shen, Daqi Zhu, Zhenzhong Chu

RA-L 2025

In this letter, a Model Predictive Control (MPC) approach based on the Incremental Sparse Gaussian Process (ISGP) is designed for trajectory tracking of Unmanned Underwater Vehicles (UUVs). The performance of MPC depends on the accuracy of system modeling. However, building an accurate dynamic model

Cited by 10 Source ↗Scholar ↗