Publications

You can also find my articles on my Google Scholar profile

• NavRL: Learning Safe Flight in Dynamic Environments
  Zhefan Xu, Xinming Han, Haoyu Shen, Hanyu Jin, Kenji Shimada
  submitted to IEEE Robotics and Automation Letters (RA-L), 2024.
• Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments
  Zhefan Xu*, Hanyu Jin*, Xinming Han, Haoyu Shen, Kenji Shimada
  submitted to IEEE Robotics and Automation Letters (RA-L), 2024.
• Heuristic-based Incremental Probabilistic Roadmap for Efficient UAV Exploration in Dynamic Environments
  Zhefan Xu*, Christopher Suzuki*, Xiaoyang Zhan, Kenji Shimada
  IEEE International Conference on Robotics and Automation (ICRA), 2024.
• Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation
  Zhefan Xu, Kenji Shimada
  IEEE International Conference on Robotics and Automation (ICRA), 2024.
• Onboard Dynamic-object Detection and Tracking for Autonomous Robot Navigation With RGB-D Camera
  Zhefan Xu*, Xiaoyang Zhan*, Yumeng Xiu, Christopher Suzuki, Kenji Shimada
  IEEE Robotics and Automation Letters (RA-L), 2023.
• A Vision-Based Autonomous UAV Inspection Framework for Unknown Tunnel Construction Sites With Dynamic Obstacles
  Zhefan Xu, Baihan Chen, Xiaoyang Zhan, Yumeng Xiu, Christopher Suzuki, Kenji Shimada
  IEEE Robotics and Automation Letters (RA-L), 2023.
• A real-time dynamic obstacle tracking and mapping system for UAV navigation and collision avoidance with an RGB-D camera
  Zhefan Xu*, Xiaoyang Zhan*, Baihan Chen, Yumeng Xiu, Chenhao Yang, Kenji Shimada
  IEEE International Conference on Robotics and Automation (ICRA), 2023.
• Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization
  Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan, Baihan Chen, Kenji Shimada
  IEEE International Conference on Robotics and Automation (ICRA), 2023.
• DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles
  Zhefan Xu, Di Deng, Yiping Dong, Kenji Shimada
  IEEE International Conference on Robotics and Automation (ICRA), 2022.
• Autonomous UAV Exploration of Dynamic Environments Via Incremental Sampling and Probabilistic Roadmap
  Zhefan Xu, Di Deng, Kenji Shimada
  IEEE Robotics and Automation Letters (RA-L), 2021.
• Frontier-based automatic-differentiable information gain measure for robotic exploration of unknown 3D environments
  Di Deng, Zhefan Xu, Wenbo Zhao, Kenji Shimada
  Preprint arXiv:2011.05288, 2020.
• Coordinated aerial-ground robot exploration via monte-carlo view quality rendering
  Di Deng, Zhefan Xu, Wenbo Zhao, Kenji Shimada
  Preprint arXiv:2011.05275, 2020.