Publications

1. Review

   CARE-UWB: Consistency-Aware Receding-Horizon Estimation for Large-Scale UWB-only Localization under Sparse and NLOS-Affected Radio Conditions

   S. Yuan^* , F. Liu , B. Lou , T.-M. Nguyen , and L. Xie

   2026

   Submitted for review

   Bib Demo

   @unpublished{yuan2026careuwb,
     title = {CARE-UWB: Consistency-Aware Receding-Horizon Estimation for Large-Scale UWB-only Localization under Sparse and NLOS-Affected Radio Conditions},
     author = {Yuan, Shenghai and Liu, Fen and Lou, Boyang and Nguyen, Thien-Minh and Xie, Lihua},
     note = {Submitted for review},
     year = {2026},
   }

2. Review

   Audio-Visual Navigation with Probabilistic Sound Source Mapping and Open-Vocabulary Semantic Guidance

   Y. Yang , S. Yuan^* , and L. Xie

   2026

   Submitted for review

   Bib Video

   @unpublished{yang2026audiovisualnavigation,
     title = {Audio-Visual Navigation with Probabilistic Sound Source Mapping and Open-Vocabulary Semantic Guidance},
     author = {Yang, Yizhuo and Yuan, Shenghai and Xie, Lihua},
     year = {2026},
     note = {Submitted for review},
   }

3. Review

   FSULoc: Few-Shot UWB Localization with Sparse Anchors in Large-Scale NLOS Environments

   S. Yuan^* , Y. Ning , C. He , Y. Wei , F. Liu , and X. Fang

   2026

   Submitted for review

   Bib Demo

   @unpublished{yuan2026fsuloc,
     title = {FSULoc: Few-Shot UWB Localization with Sparse Anchors in Large-Scale NLOS Environments},
     author = {Yuan, Shenghai and Ning, Yangyang and He, Chengxiao and Wei, Yihan and Liu, Fen and Fang, Xu},
     year = {2026},
     note = {Submitted for review},
   }

4. Review

   MAUFormer: A Map-Aware UWB Transformer for Large-Scale Localization with Few-Shot Trajectory Priors

   S. Yuan , F. Liu , Y. Wei , M. Hu , S. Jin , and X. Fang

   2026

   Submitted for review

   Bib Demo

   @unpublished{yuan2026mauformer,
     title = {MAUFormer: A Map-Aware UWB Transformer for Large-Scale Localization with Few-Shot Trajectory Priors},
     author = {Yuan, Shenghai and Liu, Fen and Wei, Yihan and Hu, Mingxuan and Jin, Siyuan and Fang, Xu},
     year = {2026},
     note = {Submitted for review},
   }

5. Review

   

   SERVE: Learning Agile Badminton Serving Skills Across Humanoid Embodiments

   L. Chen , H. Wang , J. Yan , F. Yang , and S. Yuan^*

   2026

   Submitted for review

   Bib

   @unpublished{chen2026serve,
     title = {SERVE: Learning Agile Badminton Serving Skills Across Humanoid Embodiments},
     author = {Chen, Long and Wang, Haochen and Yan, Jun and Yang, Fan and Yuan, Shenghai},
     year = {2026},
     note = {Submitted for review},
   }

6. Review

   

   NexusBot: Geometry-Guided Perception and Manipulation of Irregular Biological Surfaces

   L. Chen , H. Wang , F. Yang , W. Wang , and S. Yuan^*

   2026

   Submitted for review

   Bib

   @unpublished{chen2026nexusbot,
     title = {NexusBot: Geometry-Guided Perception and Manipulation of Irregular Biological Surfaces},
     author = {Chen, Long and Wang, Haochen and Yang, Fan and Wang, Wenjie and Yuan, Shenghai},
     year = {2026},
     note = {Submitted for review},
   }

1. Review

   SPQR: Structural-Prior-Guided Pathwise Querying and Routing for Multi-UAV Exploration

   H. Zhong , S. Yuan , and L. Xie

   2026

   Submitted for review

   Bib Demo

   @unpublished{zhong2026spqr,
     title = {SPQR: Structural-Prior-Guided Pathwise Querying and Routing for Multi-UAV Exploration},
     author = {Zhong, Hao and Yuan, Shenghai and Xie, Lihua},
     year = {2026},
     note = {Submitted for review},
   }

2. Manuscript

   

   Proprioceptive Risk-Aware Navigation for Lunar Planetary Exploration Rovers

   Z. Chen , T. Hu , W. Lv , Y. Xu^* , and S. Yuan

   2026

   Bib

   @unpublished{chen2026proprioceptiveriskaware,
     title = {Proprioceptive Risk-Aware Navigation for Lunar Planetary Exploration Rovers},
     author = {Chen, Zhongming and Hu, Tianxin and Lv, Weijun and Xu, Yong and Yuan, Shenghai},
     year = {2026},
   }

3. Manuscript

   

   NLOS-Aware Multi-Robot Visual–Inertial–Ranging Localization with Virtual Ranging Compensation

   W. Su^* , S. Yuan , B. Lou , and J. Zhao

   2026

   Bib

   @unpublished{su2026nlosawaremultirobot,
     title = {NLOS-Aware Multi-Robot Visual–Inertial–Ranging Localization with Virtual Ranging Compensation},
     author = {Su, Wenju and Yuan, Shenghai and Lou, Boyang and Zhao, Jianmin},
     year = {2026},
   }

4. Manuscript

   

   Night Beacon: Co-Located LED-UWB Beacon Calibration and One-Shot Localization for Nocturnal Navigation

   B. Lou^* , S. Yuan , W. Su , J. Zhao , H. Cai , E. Hu , K. Han , Z. Deng , S. Jin , and J. Dong

   2026

   Bib

   @unpublished{lou2026nightbeacon,
     title = {Night Beacon: Co-Located LED-UWB Beacon Calibration and One-Shot Localization for Nocturnal Navigation},
     author = {Lou, Boyang and Yuan, Shenghai and Su, Wenju and Zhao, Jianmin and Cai, Huirong and Hu, Enwen and Han, Ke and Deng, Zhongliang and Jin, Siyuan and Dong, Jifeng},
     year = {2026},
   }

5. Review

   AGMarker-SLAM: A Marker-Assisted Aerial-Ground Collaborative SLAM System for Robust Map Fusion

   H. Cai , X. Ouyang , R. Yang , Y. Zang , H. Zhang , Y. Qi^* , Y. Hou , S. Yuan , and J. Wu

   2026

   Submitted for review

   Bib Video

   @unpublished{cai2026agmarkerslam,
     title = {AGMarker-SLAM: A Marker-Assisted Aerial-Ground Collaborative SLAM System for Robust Map Fusion},
     author = {Cai, Haoxin and Ouyang, Xiuhua and Yang, Ruilan and Zang, Yunxiao and Zhang, Haipeng and Qi, Yuhua and Hou, Yanqing and Yuan, Shenghai and Wu, Jin},
     year = {2026},
     note = {Submitted for review},
   }

6. Review

   SRULOC: Digital-Twin-Based Sim-to-Real UWB Localization

   T.-D. Nguyen , S. Yuan , P. R. McAree , and T.-M. Nguyen^*

   2026

   Submitted for review

   Bib Video

   @unpublished{nguyen2026sruloc,
     title = {SRULOC: Digital-Twin-Based Sim-to-Real UWB Localization},
     author = {Nguyen, Tien-Dat and Yuan, Shenghai and McAree, Peter Ross and Nguyen, Thien-Minh},
     year = {2026},
     note = {Submitted for review},
   }

7. Review

   Semantic-Geometric Prior Reasoning for Elevator Panel Layout Recovery under Partial and Noisy Observation

   F. Liu^* , L. Hong , S. Yuan , and R. Su

   2026

   Submitted for review

   Bib Video

   @unpublished{liu2026semanticgeometric,
     title = {Semantic-Geometric Prior Reasoning for Elevator Panel Layout Recovery under Partial and Noisy Observation},
     author = {Liu, Fen and Hong, Luhang and Yuan, Shenghai and Su, Rong},
     year = {2026},
     note = {Submitted for review},
   }

8. Review

   Single-Anchor-UWB Aided Neural-Inertial Odometry with Adaptive-Horizon Model Predictive Path Integral Fusion

   Y. Tang , F. Liu , H. Zhang , B. Lou , E. Hu , A. P. Schoellig , and S. Yuan^*

   2026

   Submitted for review

   Bib Video

   @unpublished{tang2026adaptivehorizon,
     title = {Single-Anchor-UWB Aided Neural-Inertial Odometry with Adaptive-Horizon Model Predictive Path Integral Fusion},
     author = {Tang, Yihan and Liu, Fen and Zhang, Haoming and Lou, Boyang and Hu, Enwen and Schoellig, Angela P. and Yuan, Shenghai},
     year = {2026},
     note = {Submitted for review},
   }

9. Review

   UWB Anchor Calibration via Range-to-Map Binding

   B. Lou^* , S. Yuan , W. Su , J. Zhao , Z. Yan , S. Jin , H. Cai , Y. Tang , T.-M. Nguyen , E. Hu , K. Han , Z. Deng , and D. Zeng

   2026

   Submitted for review

   Bib Video

   @unpublished{lou2026rangetomap,
     title = {UWB Anchor Calibration via Range-to-Map Binding},
     author = {Lou, Boyang and Yuan, Shenghai and Su, Wenju and Zhao, Jianmin and Yan, Zheng and Jin, Siyuan and Cai, Huirong and Tang, Yihan and Nguyen, Thien-Minh and Hu, Enwen and Han, Ke and Deng, Zhongliang and Zeng, Dezhao},
     year = {2026},
     note = {Submitted for review},
   }

10. Review

    MCULoc: Motion-Consistent UWB Localization under Sparse Ranging with Few-Shot Trajectory Priors

    S. Yuan^* , F. Liu , X. Wang , T.-M. Nguyen , and L. Xie

    2026

    Submitted for review

    Bib Video

    @unpublished{yuan2026mculoc,
      title = {MCULoc: Motion-Consistent UWB Localization under Sparse Ranging with Few-Shot Trajectory Priors},
      author = {Yuan, Shenghai and Liu, Fen and Wang, Xuehe and Nguyen, Thien-Minh and Xie, Lihua},
      year = {2026},
      note = {Submitted for review},
    }

11. Review

    LCALoc: Learning Covariance Adaptation for Few-Shot UWB Localization with Sparse Ranges in Large-Scale Environments

    S. Yuan^* , W. Zhu , J. Feng , B. Lou , E. Hu , Y. Qi , and X. Wang

    2026

    Submitted for review

    Bib Video

    @unpublished{yuan2026lcaloc,
      title = {LCALoc: Learning Covariance Adaptation for Few-Shot UWB Localization with Sparse Ranges in Large-Scale Environments},
      author = {Yuan, Shenghai and Zhu, Wenjie and Feng, Jiajie and Lou, Boyang and Hu, Enwen and Qi, Yuhua and Wang, Xuehe},
      year = {2026},
      note = {Submitted for review},
    }

12. Review

    Connectivity-Aware Reinforcement Learning for Multi-Agent Exploration under Constrained Field of View

    Z. Qiao^* , S. Zhang , H. Gao , H. Zhong , R. Bai , Z. Pang , S. Yuan , and L. Xie

    2026

    Submitted for review

    Bib Video

    @unpublished{qiao2026connectivityaware,
      title = {Connectivity-Aware Reinforcement Learning for Multi-Agent Exploration under Constrained Field of View},
      author = {Qiao, Zhuoran and Zhang, Su and Gao, Hewen and Zhong, Hao and Bai, Ruofei and Pang, Zhibo and Yuan, Shenghai and Xie, Lihua},
      year = {2026},
      note = {Submitted for review},
    }

13. Review

    Policy-Guided Trust Allocation for Single-Anchor UWB-Aided Neural Inertial Odometry

    Y. Tang , H. Zhong , Z. Qiao , Y. Qi , X. Wang , and S. Yuan^*

    2026

    Submitted for review

    Bib Video

    @unpublished{tang2026policyguided,
      title = {Policy-Guided Trust Allocation for Single-Anchor UWB-Aided Neural Inertial Odometry},
      author = {Tang, Yihan and Zhong, Hao and Qiao, Zhuoran and Qi, Yuhua and Wang, Xuehe and Yuan, Shenghai},
      year = {2026},
      note = {Submitted for review},
    }

2027

1. SEER-VAR: Semantic Egocentric Environment Reasoner for Vehicle Augmented Reality

   Y. Lai , S. Yuan , P. Li , J. Lou , and A. Zell

   In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2027

   arXiv Bib HTML Video Demo

   @inproceedings{lai2025seervarsemantic,
     title = {SEER-VAR: Semantic Egocentric Environment Reasoner for Vehicle Augmented Reality},
     author = {Lai, Yuzhi and Yuan, Shenghai and Li, Peizheng and Lou, Jun and Zell, Andreas},
     booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
     year = {2027},
   }

2. 

   Structured Task Solving via Modular Embodied Intelligence: A Case Study on Rubik’s Cube

   C. Fan , and S. Yuan^*

   CAAI Transactions on Intelligence Technology, 2027

   arXiv Bib HTML

   @article{fan2025structuredtasksolving,
     title = {Structured Task Solving via Modular Embodied Intelligence: A Case Study on Rubik's Cube},
     author = {Fan, C. and Yuan, Shenghai},
     journal = {CAAI Transactions on Intelligence Technology},
     year = {2027},
   }

2026

1. ICARCV

   

   Interactive Object Tracking on Gait-Parameterized Locomotion Policy

   G.-H. Huynh , T. Hu , T.-D. Nguyen , S. Yuan , and T.-M. Nguyen^*

   In 19th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2026

   Bib Video

   @inproceedings{huynh2026interactiveobjecttracking,
     title = {Interactive Object Tracking on Gait-Parameterized Locomotion Policy},
     author = {Huynh, Gia-Hung and Hu, Tianxin and Nguyen, Tien-Dat and Yuan, Shenghai and Nguyen, Thien-Minh},
     booktitle = {19th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
     year = {2026},
   }

2. ICARCV

   

   FLEX: A Benchmark for Indoor UAV Exploration Policies

   H. Zhong , Z. Qiao , R. Bai , T.-M. Nguyen , S. Yuan^* , and L. Xie

   In 19th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2026

   Bib

   @inproceedings{zhong2026flexbenchmark,
     title = {FLEX: A Benchmark for Indoor UAV Exploration Policies},
     author = {Zhong, Hao and Qiao, Zhuoran and Bai, Ruofei and Nguyen, Thien-Minh and Yuan, Shenghai and Xie, Lihua},
     booktitle = {19th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
     year = {2026},
   }

3. ICARCV

   

   Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion

   Y. Zhu^† , X. Li^† , T.-M. Nguyen , X. Wang , and S. Yuan^*

   In 19th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2026

   arXiv Bib HTML

   @inproceedings{zhu2026benchmarkingvisualinertial,
     title = {Benchmarking Visual-Inertial Odometry in Subterranean Environments Under Sensor Degradation, Miscalibration, and Dynamic Occlusion},
     author = {Zhu, Yueying and Li, Xiang and Nguyen, Thien-Minh and Wang, Xuehe and Yuan, Shenghai},
     year = {2026},
     booktitle = {19th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
   }

4. ICARCV

   

   Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environments

   D. Liang^† , Y. Zhu^† , R. Liu , S. Yuan , L. Xie , and T.-M. Nguyen^*

   In 19th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2026

   arXiv Bib HTML Video

   @inproceedings{liang2026watchyourstep,
     title = {Watch Your Step: Learning Semantically-Guided Locomotion in Cluttered Environments},
     author = {Liang, Denan and Zhu, Yuan and Liu, Ruimeng and Yuan, Shenghai and Xie, Lihua and Nguyen, Thien-Minh},
     year = {2026},
     booktitle = {19th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
   }

5. G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation

   Y. Liao , Y. Lan , Y. Yang , R. Liu , X. Xu , S. Yuan , and L. Xie

   In Conference on Robot Learning (CoRL), 2026

   Nanyang Technological University, Singapore

   Abs Bib HTML PDF Demo

   G2-Nav translates social reasoning from a vision-language model into grounded costmaps for robot navigation. Tracked agents and scene regions shape the local route, while visual verification checks depth registration and a fast LiDAR reflex responds to newly observed obstacles between model updates.

   @inproceedings{liao2026g2navgrounded,
     title = {G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation},
     author = {Liao, Yuwen and Lan, Yihang and Yang, Yizhuo and Liu, Ruimeng and Xu, Xinhang and Yuan, Shenghai and Xie, Lihua},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2026},
     note = {Nanyang Technological University, Singapore},
   }

6. Modeling Multi-Segment Acceleration for Event Camera Rotation Estimation

   C. Shi , Y. He , W. Li , W. Ding , N. Song , S. Yuan , and J. Jin

   Pattern Recognition, 2026

   Bib Video

   @article{shi2026modelingmultisegment,
     title = {Modeling Multi-Segment Acceleration for Event Camera Rotation Estimation},
     author = {Shi, C. and He, Y. and Li, W. and Ding, W. and Song, N. and Yuan, Shenghai and Jin, J.},
     journal = {Pattern Recognition},
     year = {2026},
     volume = {179},
     eid = {113946},
   }

7. IoT-J

   Distributed Formation Navigation for Quadruped and Wheeled Robots via Artificial Potential Fields

   B. Zhang , W. Chen , C. Xu , R. Li , C. Deng , S. Chen , S. Yuan , and B. Xin

   IEEE Internet of Things Journal, 2026

   DOI Bib HTML Video Demo

   @article{zhang2026distributedformationnavigation,
     title = {Distributed Formation Navigation for Quadruped and Wheeled Robots via Artificial Potential Fields},
     author = {Zhang, Bo and Chen, Weili and Xu, Chunyang and Li, Ruocheng and Deng, Chenxi and Chen, Shiyu and Yuan, Shenghai and Xin, Bin},
     journal = {IEEE Internet of Things Journal},
     year = {2026},
     doi = {10.1109/JIOT.2026.3746317},
   }

8. T-Mech

   HiCo-Nav: A Deployable Embodied Object Navigation System with Hierarchical Cognition and Context-Aware Exploration

   K. Xu , R. Liu , Y. Yang , D. Liang , T. Jin , S. Yuan , C. Wang , and L. Xie

   IEEE/ASME Transactions on Mechatronics, 2026

   arXiv Bib HTML Demo Code

   @article{xu2026hiconava,
     title = {HiCo-Nav: A Deployable Embodied Object Navigation System with Hierarchical Cognition and Context-Aware Exploration},
     author = {Xu, K. and Liu, R. and Yang, Y. and Liang, D. and Jin, T. and Yuan, Shenghai and Wang, C. and Xie, L.},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2026},
   }

9. Learning Structural Consistency and Monocular Priors for Progressive Depth Completion

   H. Chai , Y. Lyu , S. Yuan , M. Su , C. Zhao , and Z. Liu

   Neurocomputing, 2026

   Bib HTML Video

   @article{chai2026learningstructuralconsistency,
     title = {Learning Structural Consistency and Monocular Priors for Progressive Depth Completion},
     author = {Chai, H. and Lyu, Y. and Yuan, Shenghai and Su, M. and Zhao, C. and Liu, Z.},
     journal = {Neurocomputing},
     year = {2026},
     volume = {699},
     eid = {134414},
   }

10. MTV: Selective State Space Tracker for Infrared UAV

    Z. Xiao , G. Wang , S. Yuan , J. Yin , M. Wang , H. Shi , and J. Yang

    IEEE Transactions on Circuits and Systems for Video Technology, 2026

    Bib HTML Video

    @article{xiao2026mtvselectivestate,
      title = {MTV: Selective State Space Tracker for Infrared UAV},
      author = {Xiao, Z. and Wang, G. and Yuan, Shenghai and Yin, J. and Wang, M. and Shi, H. and Yang, J.},
      journal = {IEEE Transactions on Circuits and Systems for Video Technology},
      year = {2026},
    }

11. RA-L

    SAOG: Spatial-Attribute-Aware 3D Object Grounding via Visual Question Answering-Enhanced Reasoning

    T. Jin , J. Xu , S. Yuan , J. Li , T.-M. Nguyen , and L. Xie

    IEEE Robotics and Automation Letters, 2026

    DOI Bib HTML Demo

    @article{jin2026saogspatialattribute,
      title = {SAOG: Spatial-Attribute-Aware 3D Object Grounding via Visual Question Answering-Enhanced Reasoning},
      author = {Jin, Tongxing and Xu, Jie and Yuan, Shenghai and Li, Jianping and Nguyen, Thien-Minh and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters},
      year = {2026},
      volume = {11},
      number = {11},
      pages = {13485--13492},
      doi = {10.1109/LRA.2026.3739027},
    }

12. IROS

    3D UAV Trajectory Estimation and Classification from Internet Videos via Language Model

    H. Lei , D. Wang , S. Yuan , and J. Su^*

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    arXiv Bib HTML Demo

    @inproceedings{lei20263duavtrajectory,
      title = {3D UAV Trajectory Estimation and Classification from Internet Videos via Language Model},
      author = {Lei, Haoxiang and Wang, Daotong and Yuan, Shenghai and Su, Jianbo},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

13. IROS

    

    Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies

    J. Sheng^* , R. Bai , K. Xu , R. Liu , J. Chen , S. Yuan , W.-Y. Yau , and L. Xie

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Bib HTML

    @inproceedings{sheng2026beyondimitationreinforcement,
      title = {Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies},
      author = {Sheng, Junhe and Bai, Ruofei and Xu, Kuan and Liu, Ruimeng and Chen, Jie and Yuan, Shenghai and Yau, Wei-Yun and Xie, Lihua},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

14. IROS

    EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots

    Y. Lu , Y. Hu , S. Yuan , X. Zhou , K. Zuo , B. Lyu , X. Yuan , and J. Yang^*

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Bib HTML Demo

    @inproceedings{lu2026emfallembodied,
      title = {EM-Fall: Embodied mmWave Sensing for Day-and-Night Fall Detection on Humanoid Robots},
      author = {Lu, Yanshuo and Hu, Yuxuan and Yuan, Shenghai and Zhou, Xinyu and Zuo, Kuangji and Lyu, Bofan and Yuan, Xichen and Yang, Jianfei},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

15. IROS

    GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI

    H. Zhang , S. Yuan^* , W. Yan , L. Ma , H. Li , J.-C. Pang , and D. Yudin

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Bib HTML Demo

    @inproceedings{zhang2026gpusimbenchtowardsscalable,
      title = {GPUSimBench: Towards Scalable and Reliable GPU-Accelerated Simulators in Embodied AI},
      author = {Zhang, Huzhenyu and Yuan, Shenghai and Yan, Wenrui and Ma, Li and Li, Hengjie and Pang, Jing-Cheng and Yudin, Dmitry},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

16. IROS

    Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage

    Z. Qiao^† , T. Hu^† , T.-M. Nguyen , and S. Yuan^*

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Bib HTML Demo

    @inproceedings{qiao2026multiagentoff,
      title = {Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage},
      author = {Qiao, Zhuoran and Hu, Tianxin and Nguyen, Thien-Minh and Yuan, Shenghai},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

17. IROS

    

    NeuralMUSIC: A Hybrid Neural–Subspace Framework for Robot Sound Source Localization

    Y. Yang , J. Fan , S. Yuan^* , and L. Xie

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

    Bib HTML

    @inproceedings{yang2026neuralmusicahybrid,
      title = {NeuralMUSIC: A Hybrid Neural–Subspace Framework for Robot Sound Source Localization},
      author = {Yang, Yizhuo and Fan, Junqiao and Yuan, Shenghai and Xie, Lihua},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2026},
    }

18. 

    Voxelized 3D Gaussian Representation for Dense Visual SLAM on Embedded Vision System

    T. Deng , W. Wu , J. He , Y. Pan , X. Jiang , S. Yuan , D. Wang , H. Wang , and W. Chen

    International Journal of Computer Vision, 2026

    Bib HTML

    @article{deng2026voxelized3dgaussian,
      title = {Voxelized 3D Gaussian Representation for Dense Visual SLAM on Embedded Vision System},
      author = {Deng, T. and Wu, W. and He, J. and Pan, Y. and Jiang, X. and Yuan, Shenghai and Wang, D. and Wang, H. and Chen, W.},
      journal = {International Journal of Computer Vision},
      year = {2026},
    }

19. 

    Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering

    T. Deng , G. Shen , Y. Shen , W. Wu , Y. Fang , Z. Ma , T. Zhang , S. Yuan , and  others

    arXiv preprint arXiv:2609.21502, 2026

    arXiv Bib HTML

    @article{deng2026adaptiveworldmemory,
      title = {Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering},
      author = {Deng, T. and Shen, G. and Shen, Y. and Wu, W. and Fang, Y. and Ma, Z. and Zhang, T. and Yuan, Shenghai and others},
      journal = {arXiv preprint arXiv:2609.21502},
      year = {2026},
    }

20. arXiv

    Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning

    H. Lei , M. Feng , D. Wang , and S. Yuan

    arXiv preprint arXiv:2609.24218, 2026

    arXiv Bib HTML Demo

    @article{lei2026audiobaseduav,
      title = {Audio-based UAV Localization with Adaptive Temporal Correspondence via Reinforcement Learning},
      author = {Lei, H. and Feng, M. and Wang, D. and Yuan, Shenghai},
      journal = {arXiv preprint arXiv:2609.24218},
      year = {2026},
    }

21. Review

    Beyond Object Selection: Markerless Gaze-based Robot Placement at Arbitrary Positions

    Y. Lai^* , W. Marx , S. Yuan , Z. Ran , P. Li , and A. Zell

    arXiv preprint arXiv:2609.00478, 2026

    Submitted for review

    arXiv Bib HTML Video

    @article{lai2026beyondobjectselection,
      title = {Beyond Object Selection: Markerless Gaze-based Robot Placement at Arbitrary Positions},
      author = {Lai, Yuzhi and Marx, William and Yuan, Shenghai and Ran, Zhuoyu and Li, Peizheng and Zell, Andreas},
      journal = {arXiv preprint arXiv:2609.00478},
      year = {2026},
      note = {Submitted for review},
    }

22. Review

    Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

    Y. Mao , F. Liu , S. Yuan , T. Hu , R. Liu , and R. Su

    arXiv preprint arXiv:2609.25969, 2026

    Submitted for review

    arXiv Bib HTML Video

    @article{mao2026predictbeforeyou,
      title = {Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance},
      author = {Mao, Yuhui and Liu, Fen and Yuan, Shenghai and Hu, Tianxin and Liu, Ruimeng and Su, Rong},
      journal = {arXiv preprint arXiv:2609.25969},
      year = {2026},
      note = {Submitted for review},
    }

23. Fuse Only What Matters: Degeneracy-Aware Multi-Sensor Fusion for LiDAR-Inertial-Visual SLAM

    X. Zhang , J. Xu , C. Yang , G. Huang , L. Zhao , R. Li , S. Yuan , Y. Li , and L. Xie

    ISPRS Journal of Photogrammetry and Remote Sensing, 2026

    Bib HTML Video

    @article{zhang2026fuseonlywhat,
      title = {Fuse Only What Matters: Degeneracy-Aware Multi-Sensor Fusion for LiDAR-Inertial-Visual SLAM},
      author = {Zhang, X. and Xu, J. and Yang, C. and Huang, G. and Zhao, L. and Li, R. and Yuan, Shenghai and Li, Y. and Xie, L.},
      journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
      year = {2026},
    }

24. arXiv

    Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift

    Y. Ning , S. Liang , Q. Ge , T. Deng , Y. Qi , and S. Yuan

    arXiv preprint arXiv:2607.17956, 2026

    arXiv Bib HTML Video

    @article{ning2026doesrobustvio,
      title = {Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift},
      author = {Ning, Yangyang and Liang, Shu and Ge, Quanbo and Deng, Tianchen and Qi, Yuhua and Yuan, Shenghai},
      journal = {arXiv preprint arXiv:2607.17956},
      year = {2026},
    }

25. ICCA

    Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power

    T. Hu , W. Guo , R. Liu , X. Xu , R. Qian , J. Chen , S. Yuan^* , and L. Xie

    In 20th IEEE International Conference on Control and Automation (ICCA), 2026

    arXiv Bib HTML Demo

    @inproceedings{hu2026energyconstrainednavigation,
      title = {Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power},
      author = {Hu, T. and Guo, W. and Liu, R. and Xu, X. and Qian, R. and Chen, J. and Yuan, Shenghai and Xie, L.},
      booktitle = {20th IEEE International Conference on Control and Automation (ICCA)},
      year = {2026},
    }

26. 

    A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation

    T.-M. Nguyen , Z. Cao , K. Li , W. Talbot , T. Jin , S. Yuan , T. D. Barfoot , and L. Xie

    IEEE Transactions on Robotics (T-RO), 2026

    arXiv Bib HTML

    @article{nguyen2024gptr,
      title = {A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation},
      author = {Nguyen, T.-M. and Cao, Z. and Li, K. and Talbot, W. and Jin, T. and Yuan, Shenghai and Barfoot, T. D. and Xie, L.},
      journal = {IEEE Transactions on Robotics (T-RO)},
      year = {2026},
      volume = {42},
      pages = {2648--2667},
    }

27. CVPR

    Adaptive 3D Perception for Small Aerial Targets Under Sparse Sampling via Reinforcement Learning

    S. Yuan , Y. Wei , J. W. H. Yee , Z. Qiao , B. Lou , and E. Hu^*

    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026

    Bib HTML Demo

    @inproceedings{yuan2026adaptive3dperception,
      title = {Adaptive 3D Perception for Small Aerial Targets Under Sparse Sampling via Reinforcement Learning},
      author = {Yuan, Shenghai and Wei, Y. and Yee, J. W. H. and Qiao, Z. and Lou, B. and Hu, E.},
      booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
      year = {2026},
      pages = {39064--39074},
    }

28. CVPR

    TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion

    R. Qian , H. Cao , T. Deng , T. Hu , W. Guo , S. Yuan , and L. Xie

    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026

    arXiv Bib HTML Video Demo Code

    @inproceedings{qian2026tgsformerscalabletemporal,
      title = {TGSFormer: Scalable Temporal Gaussian Splatting for Embodied Semantic Scene Completion},
      author = {Qian, R. and Cao, H. and Deng, T. and Hu, T. and Guo, W. and Yuan, Shenghai and Xie, L.},
      booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
      year = {2026},
      pages = {11881--11890},
    }

29. ICRA

    CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling

    H. Liang , B. Wang , S. Zhang , W. Jiang , Y. Yang , W. Guo , and S. Yuan^*

    In IEEE International Conference on Robotics and Automation (ICRA), 2026

    DOI arXiv Bib HTML Demo

    @inproceedings{liang2026cetuscausalevent,
      title = {CETUS: Causal Event-Driven Temporal Modeling With Unified Variable-Rate Scheduling},
      author = {Liang, Hanfang and Wang, Bing and Zhang, Shizhen and Jiang, Wen and Yang, Yizhuo and Guo, Weixiang and Yuan, Shenghai},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2026},
      pages = {19949--19956},
      doi = {10.1109/ICRA57385.2026.11696160},
    }

30. ICRA

    Global Planning for Object Navigation via a Weighted Traveling Repairman Problem Formulation

    R. Liu , X. Xu , S. Yuan^* , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2026

    Bib HTML Demo

    @inproceedings{liu2026globalplanningfor,
      title = {Global Planning for Object Navigation via a Weighted Traveling Repairman Problem Formulation},
      author = {Liu, R. and Xu, X. and Yuan, Shenghai and Xie, L.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2026},
    }

31. ICRA

    PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots

    S. Yuan , J. W. H. Yee , W. Guo , Z. Liu , T. M. Nguyen , and L. Xie^*

    In IEEE International Conference on Robotics and Automation (ICRA), 2026

    DOI arXiv Bib HTML Demo Code

    @inproceedings{yuan2026peralperceptionaware,
      title = {PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots},
      author = {Yuan, Shenghai and Yee, J. W. H. and Guo, W. and Liu, Z. and Nguyen, T. M. and Xie, L.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2026},
      pages = {22610--22617},
      doi = {10.1109/ICRA57385.2026.11696774},
    }

32. 

    Proactive Risk-Aware Trajectory Planning for Autonomous Driving in Unstructured Environments via Reinforcement Learning with Adaptive Reward Design

    J. Du , W. Qu , S. Yuan , J. Wang , Q. Bai , C. Li , X. Wu , and D. Luo

    In IEEE International Conference on Robotics and Automation (ICRA), 2026

    Bib HTML

    @inproceedings{du2026proactiveriskaware,
      title = {Proactive Risk-Aware Trajectory Planning for Autonomous Driving in Unstructured Environments via Reinforcement Learning with Adaptive Reward Design},
      author = {Du, J. and Qu, W. and Yuan, Shenghai and Wang, J. and Bai, Q. and Li, C. and Wu, X. and Luo, D.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2026},
    }

33. T-ASE

    FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech

    Y. Lai , S. Yuan , P. Li , B. Zhang , B. Kiefer , T. Deng , and A. Zell

    IEEE Transactions on Automation Science and Engineering, 2026

    DOI arXiv Bib HTML Demo

    @article{lai2026famhrifoundation,
      title = {FAM-HRI: Foundation-Model Assisted Multi-Modal Human-Robot Interaction Combining Gaze and Speech},
      author = {Lai, Yuzhi and Yuan, Shenghai and Li, Peizheng and Zhang, Boya and Kiefer, Benjamin and Deng, Tianchen and Zell, Andreas},
      journal = {IEEE Transactions on Automation Science and Engineering},
      year = {2026},
      volume = {23},
      pages = {10521--10534},
      doi = {10.1109/tase.2026.3695438},
    }

34. 

    Adaptive Collaborative Multi-Robot Visual-Inertial-Ranging Odometry with Key Trajectory Point Screening

    W. Su , S. Yuan , B. Lou , J. Zhao , and Z. Deng

    IEEE Transactions on Instrumentation and Measurement, 2026

    Bib HTML

    @article{su2026adaptivecollaborativemulti,
      title = {Adaptive Collaborative Multi-Robot Visual-Inertial-Ranging Odometry with Key Trajectory Point Screening},
      author = {Su, W. and Yuan, Shenghai and Lou, B. and Zhao, J. and Deng, Z.},
      journal = {IEEE Transactions on Instrumentation and Measurement},
      year = {2026},
    }

35. 

    Doa: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability Based on Deep Reinforcement Learning

    Y. Li , C. Xiao , H. He , S. Yuan , Z. Ke , J. Yu , Z. Qin , Z. Zhang , W. Chi , and W. Zhang

    IEEE Transactions on Industrial Electronics, 2026

    Bib HTML

    @article{li2026doaadegeneracy,
      title = {Doa: A Degeneracy Optimization Agent with Adaptive Pose Compensation Capability Based on Deep Reinforcement Learning},
      author = {Li, Y. and Xiao, C. and He, H. and Yuan, Shenghai and Ke, Z. and Yu, J. and Qin, Z. and Zhang, Z. and Chi, W. and Zhang, W.},
      journal = {IEEE Transactions on Industrial Electronics},
      year = {2026},
    }

36. ICASSP

    Unsupervised UAV Detection from Sparse LiDAR via Temporal Dispersion Signatures

    S. Yuan^† , Z. Qi^† , Z. Duan^* , Y. Li , and B. Lou

    In IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2026

    DOI Bib HTML Demo

    @inproceedings{yuan2026unsuperviseduavdetection,
      title = {Unsupervised UAV Detection from Sparse LiDAR via Temporal Dispersion Signatures},
      author = {Yuan, Shenghai and Qi, Zhenghao and Duan, Zihang and Li, Yanbin and Lou, Boyang},
      booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
      year = {2026},
      pages = {19687--19691},
      doi = {10.1109/ICASSP55912.2026.11464432}
    }

37. US

    

    AIR-Embodied: Active Interactive Reconstruction for 3D Gaussian Splatting with Embodied Multimodal Agents

    Z. Qi , S. Yuan^* , J. Liu , F. Liu , H. Cao , T. Deng , J. Yang , and L. Xie

    Unmanned Systems, 2026

    DOI arXiv Bib HTML Video Demo

    @article{qi2024air,
      title = {AIR-Embodied: Active Interactive Reconstruction for 3D Gaussian Splatting with Embodied Multimodal Agents},
      author = {Qi, Zhenghao and Yuan, Shenghai and Liu, Jinxin and Liu, Fen and Cao, Haozhi and Deng, Tianchen and Yang, Jianfei and Xie, Lihua},
      journal = {Unmanned Systems},
      year = {2026},
      pages = {1--12},
      doi = {10.1142/s2301385027410019},
    }

38. Bias-Compensated Sliding Mode Control for Miniaturized Dual-Tilt Aerial-Ground Robot

    S. Zhou , X. Xu , Y. Yang , S. Yuan , K. Guo , and L. Xie

    Unmanned Systems, 2026

    Bib HTML Video

    @article{zhou2026biascompensatedsliding,
      title = {Bias-Compensated Sliding Mode Control for Miniaturized Dual-Tilt Aerial-Ground Robot},
      author = {Zhou, S. and Xu, X. and Yang, Y. and Yuan, Shenghai and Guo, K. and Xie, L.},
      journal = {Unmanned Systems},
      year = {2026},
      volume = {14},
      number = {3},
      pages = {629--642},
    }

39. 

    AV-DTEC: Self-Supervised Audio-Visual Fusion for Drone Trajectory Estimation and Classification

    Z. Xiao , Y. Yang , G. Xu , X. Zeng , and S. Yuan

    IEEE Sensors Journal, 2026

    Bib HTML

    @article{xiao2026avdtecself,
      title = {AV-DTEC: Self-Supervised Audio-Visual Fusion for Drone Trajectory Estimation and Classification},
      author = {Xiao, Z. and Yang, Y. and Xu, G. and Zeng, X. and Yuan, Shenghai},
      journal = {IEEE Sensors Journal},
      year = {2026},
    }

40. 

    NVMS-SLAM: Normal Vector-based Multi-Session LiDAR SLAM in Indoor Environments

    Y. Ma , C. Zhao , J. Xu , Y. Li , X. Zhang , S. Yuan , and L. Xie

    IEEE Transactions on Automation Science and Engineering, 2026

    Bib HTML

    @article{ma2026nvmsslamnormal,
      title = {NVMS-SLAM: Normal Vector-based Multi-Session LiDAR SLAM in Indoor Environments},
      author = {Ma, Y. and Zhao, C. and Xu, J. and Li, Y. and Zhang, X. and Yuan, Shenghai and Xie, L.},
      journal = {IEEE Transactions on Automation Science and Engineering},
      year = {2026},
      volume = {23},
      pages = {8034--8045},
    }

41. arXiv

    

    Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions

    R. Bai^* , S. Yuan , X. Xu , X. Ji , X. Li , H. Guo , W.-Y. Yau , and L. Xie

    arXiv preprint arXiv:2603.26314, 2026

    arXiv Bib HTML

    @article{bai2026lineofsight,
      title = {Line-of-Sight-Constrained Multi-Robot Mapless Navigation via Polygonal Visible Regions},
      author = {Bai, Ruofei and Yuan, Shenghai and Xu, Xinhang and Ji, Xingyu and Li, Xiaowei and Guo, Hongliang and Yau, Wei-Yun and Xie, Lihua},
      journal = {arXiv preprint arXiv:2603.26314},
      year = {2026},
    }

42. arXiv

    

    PanoDP: Learning Collision-Free Navigation with Panoramic Depth and Differentiable Physics

    H. Zhong , P. Chi , J. Zhao , S. Yuan^* , X. Gao , T.-M. Nguyen , and L. Xie

    arXiv preprint arXiv:2603.07644, 2026

    arXiv Bib HTML

    @article{zhong2026panodplearningcollision,
      title = {PanoDP: Learning Collision-Free Navigation with Panoramic Depth and Differentiable Physics},
      author = {Zhong, Hao and Chi, Pei and Zhao, Jiang and Yuan, Shenghai and Gao, Xuyang and Nguyen, Thien-Minh and Xie, Lihua},
      journal = {arXiv preprint arXiv:2603.07644},
      year = {2026},
    }

43. 

    RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy

    Z. Yuan , S. Yuan , and L. Xie

    arXiv preprint arXiv:2603.17831, 2026

    arXiv Bib HTML

    @article{yuan2026rpmsenhancingllm,
      title = {RPMS: Enhancing LLM-Based Embodied Planning through Rule-Augmented Memory Synergy},
      author = {Yuan, Z. and Yuan, Shenghai and Xie, L.},
      journal = {arXiv preprint arXiv:2603.17831},
      year = {2026},
    }

44. arXiv

    

    Sticky-Glance: Robust Intent Recognition for Human-Robot Collaboration via Single-Glance

    Y. Lai^* , S. Yuan , P. Li , and A. Zell

    arXiv preprint arXiv:2603.06121, 2026

    arXiv Bib HTML

    @article{lai2026stickyglancerobust,
      title = {Sticky-Glance: Robust Intent Recognition for Human-Robot Collaboration via Single-Glance},
      author = {Lai, Yuzhi and Yuan, Shenghai and Li, Peizheng and Zell, Andreas},
      journal = {arXiv preprint arXiv:2603.06121},
      year = {2026},
    }

45. arXiv

    

    Task-Level Decisions to Gait-Level Control: A Hierarchical Policy Approach for Quadruped Navigation

    S. Li , H. Wang , S. Yuan , Y. Yang , and T.-M. Nguyen^*

    arXiv preprint arXiv:2603.05783, 2026

    arXiv Bib HTML

    @article{li2026taskleveldecisions,
      title = {Task-Level Decisions to Gait-Level Control: A Hierarchical Policy Approach for Quadruped Navigation},
      author = {Li, Sijia and Wang, Haoyu and Yuan, Shenghai and Yang, Yizhuo and Nguyen, Thien-Minh},
      journal = {arXiv preprint arXiv:2603.05783},
      year = {2026},
    }

46. RA-L

    Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems

    Z. Chen , X. Liu , Y. Xu , S. Yuan , J. Li , and L. Xie

    IEEE Robotics and Automation Letters (RA-L), 2026

    arXiv Bib HTML Video Code

    @article{chen2026accuratecalibrationand,
      title = {Accurate Calibration and Robust LiDAR-Inertial Odometry for Spinning Actuated LiDAR Systems},
      author = {Chen, Zijie and Liu, Xiaowei and Xu, Yong and Yuan, Shenghai and Li, Jianping and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RA-L)},
      year = {2026},
      volume = {11},
      pages = {3772--3779},
    }

47. 

    Aeos: Active Environment-Aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes

    J. Li , X. Xu , Z. Liu , S. Yuan , M. Cao , and L. Xie

    ISPRS Journal of Photogrammetry and Remote Sensing, 2026

    Bib HTML

    @article{li2026aeosactiveenvironment,
      title = {Aeos: Active Environment-Aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes},
      author = {Li, J. and Xu, X. and Liu, Z. and Yuan, Shenghai and Cao, M. and Xie, L.},
      journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
      year = {2026},
      volume = {232},
      pages = {476--491},
    }

48. AAAI

    SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion

    R. Qian^† , H. Cao^† , T. Deng , S. Yuan^* , and L. Xie

    In AAAI Conference on Artificial Intelligence (AAAI), 2026

    Oral presentation

    DOI arXiv Bib HTML PDF Demo Code

    @inproceedings{qian2026splatsscdecoupleddepth,
      title = {SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion},
      author = {Qian, Rui and Cao, Haozhi and Deng, Tianchen and Yuan, Shenghai and Xie, Lihua},
      booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
      year = {2026},
      volume = {40},
      number = {10},
      pages = {8520--8528},
      doi = {10.1609/aaai.v40i10.37803},
      note = {Oral presentation},
    }

49. Automatica

    Aerial Target Encirclement and Interception with Noisy Range Observations

    F. Liu , S. Yuan^* , T.-M. Nguyen , W. Meng , and L. Xie

    Automatica, 2026

    DOI arXiv Bib HTML Video Demo

    @article{liu2026aerialtargetencirclement,
      title = {Aerial Target Encirclement and Interception with Noisy Range Observations},
      author = {Liu, F. and Yuan, Shenghai and Nguyen, T.-M. and Meng, W. and Xie, L.},
      journal = {Automatica},
      year = {2026},
      volume = {183},
      eid = {112600},
      doi = {10.1016/j.automatica.2025.112600}
    }

50. 

    ReCCur: A Recursive Corner-Case Curation Framework for Robust Vision-Language Understanding in Open and Edge Scenarios

    Y. Wei , S. Yuan^* , T. Deng , B. Lou , and E. Hu

    arXiv preprint arXiv:2601.03011, 2026

    arXiv Bib HTML

    @article{wei2026reccurarecursive,
      title = {ReCCur: A Recursive Corner-Case Curation Framework for Robust Vision-Language Understanding in Open and Edge Scenarios},
      author = {Wei, Y. and Yuan, Shenghai and Deng, T. and Lou, B. and Hu, E.},
      journal = {arXiv preprint arXiv:2601.03011},
      year = {2026},
    }

51. RA-L

    BMT-Exo: A Bio-Inspired Soft Exo-Glove with Muscle–Tendon Structure

    J. Ding , Y. Peng , Y. Jiang , Z. Zuo , X. Huang , Y. Sun , S. Yuan , D. Zhang , and Y. Funabora

    IEEE Robotics and Automation Letters, 2026

    Bib HTML Video

    @article{ding2026bmtexo,
      title = {BMT-Exo: A Bio-Inspired Soft Exo-Glove with Muscle–Tendon Structure},
      author = {Ding, Jun and Peng, Yanhong and Jiang, Yang and Zuo, ZiHao and Huang, Xia and Sun, Yuyang and Yuan, Shenghai and Zhang, Dan and Funabora, Yuki},
      journal = {IEEE Robotics and Automation Letters},
      year = {2026},
    }

52. 

    VPGS-SLAM: Voxel-Based Progressive 3D Gaussian SLAM in Large-Scale Scenes

    T. Deng , W. Wu , J. He , Y. Pan , X. Jiang , S. Yuan , D. Wang , H. Wang , and W. Chen

    IEEE Transactions on Intelligent Transportation Systems, 2026

    Bib HTML

    @article{deng2026vpgsslamvoxel,
      title = {VPGS-SLAM: Voxel-Based Progressive 3D Gaussian SLAM in Large-Scale Scenes},
      author = {Deng, T. and Wu, W. and He, J. and Pan, Y. and Jiang, X. and Yuan, Shenghai and Wang, D. and Wang, H. and Chen, W.},
      journal = {IEEE Transactions on Intelligent Transportation Systems},
      year = {2026},
    }

2025

1. Braid-Based Entanglement-Free Trajectory Planning for Multiple Tethered Robots

   M. Cao , K. Cao , X. Xu , S. Yuan , Y.-L. Wong , and L. Xie

   The International Journal of Robotics Research (IJRR), 2025

   Bib HTML Video

   @article{cao2025braidbasedentanglement,
     title = {Braid-Based Entanglement-Free Trajectory Planning for Multiple Tethered Robots},
     author = {Cao, M. and Cao, K. and Xu, X. and Yuan, Shenghai and Wong, Y.-L. and Xie, L.},
     journal = {The International Journal of Robotics Research (IJRR)},
     year = {2025},
   }

2. CAAI TIT

   Uno: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment

   W. Zhao , Y. Niu , Y. Wang , T. Deng , S. Yuan , Z. Wang , R. Guo , and J. Wang

   CAAI Transactions on Intelligence Technology, 2026

   DOI arXiv Bib HTML Demo

   @article{zhao2026unounifiedself,
     title = {Uno: Unified Self-Supervised Monocular Odometry for Platform-Agnostic Deployment},
     author = {Zhao, W. and Niu, Y. and Wang, Y. and Deng, T. and Yuan, Shenghai and Wang, Z. and Guo, R. and Wang, J.},
     journal = {CAAI Transactions on Intelligence Technology},
     year = {2026},
     volume = {11},
     number = {1},
     eid = {e70095},
     doi = {10.1049/cit2.70095}
   }

3. 

   ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map

   J. Xu , X. Zhang , Y. Ma , Y. Li , L. Wang , X. Xu , S. Yuan , and L. Xie

   IEEE Robotics and Automation Letters (RA-L), 2026

   Bib HTML

   @article{xu2026colormapvioa,
     title = {ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map},
     author = {Xu, J. and Zhang, X. and Ma, Y. and Li, Y. and Wang, L. and Xu, X. and Yuan, Shenghai and Xie, L.},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2026},
     volume = {11},
     number = {2},
     pages = {1570--1577},
   }

4. 

   Reloc-VGGT: Visual Relocalization with Geometry Grounded Transformer

   T. Deng , W. Wu , K. Wu , G. Wang , S. Zhu , S. Yuan , X. Chen , G. Shen , Z. Liu , and H. Wang

   arXiv preprint arXiv:2512.21883, 2025

   arXiv Bib HTML

   @article{deng2025relocvggtvisual,
     title = {Reloc-VGGT: Visual Relocalization with Geometry Grounded Transformer},
     author = {Deng, T. and Wu, W. and Wu, K. and Wang, G. and Zhu, S. and Yuan, Shenghai and Chen, X. and Shen, G. and Liu, Z. and Wang, H.},
     journal = {arXiv preprint arXiv:2512.21883},
     year = {2025},
   }

5. 

   Tire Wear Aware Trajectory Tracking Control for Multi-Axle Swerve-Drive Autonomous Mobile Robots

   T. Hu , X. Xu , T.-M. Nguyen , F. Liu , S. Yuan^* , and L. Xie

   Journal of Automation and Intelligence, 2025

   Bib HTML

   @article{hu2025tirewearaware,
     title = {Tire Wear Aware Trajectory Tracking Control for Multi-Axle Swerve-Drive Autonomous Mobile Robots},
     author = {Hu, T. and Xu, X. and Nguyen, T.-M. and Liu, F. and Yuan, Shenghai and Xie, L.},
     journal = {Journal of Automation and Intelligence},
     year = {2025},
     volume = {4},
     number = {4},
     pages = {243--253},
   }

6. 

   What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models

   T. Deng , Y. Pan , S. Yuan , D. Li , C. Wang , M. Li , L. Chen , L. Xie , D. Wang , J. Wang , J. Civera , H. Wang , and W. Chen

   arXiv preprint arXiv:2512.03422, 2025

   arXiv Bib HTML

   @article{deng2025whatisthe,
     title = {What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models},
     author = {Deng, T. and Pan, Y. and Yuan, Shenghai and Li, D. and Wang, C. and Li, M. and Chen, L. and Xie, L. and Wang, D. and Wang, J. and Civera, J. and Wang, H. and Chen, W.},
     journal = {arXiv preprint arXiv:2512.03422},
     year = {2025},
   }

7. 

   GVD-TG: Topological Graph Based on Fast Hierarchical GVD Sampling for Robot Exploration

   Y. Li , C. Xiao , S. Yuan , P. Yu , Z. Li , Z. Zhang , W. Chi , and W. Zhang

   arXiv preprint arXiv:2511.18708, 2025

   arXiv Bib HTML

   @article{li2025gvdtgtopological,
     title = {GVD-TG: Topological Graph Based on Fast Hierarchical GVD Sampling for Robot Exploration},
     author = {Li, Y. and Xiao, C. and Yuan, Shenghai and Yu, P. and Li, Z. and Zhang, Z. and Chi, W. and Zhang, W.},
     journal = {arXiv preprint arXiv:2511.18708},
     year = {2025},
   }

8. 

   AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones

   X. Li , K. Xu , F. Liu , R. Bai , S. Yuan^* , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Bib HTML

   @inproceedings{li2025airswarmenablingcost,
     title = {AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones},
     author = {Li, X. and Xu, K. and Liu, F. and Bai, R. and Yuan, Shenghai and Xie, L.},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2025},
     pages = {21487--21494},
   }

9. 

   Autonomous 3D Moving Target Encirclement and Interception with Range measurement

   F. Liu , S. Yuan^* , T.-M. Nguyen , and R. Su

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

   Bib HTML

   @inproceedings{liu2025autonomous3dmoving,
     title = {Autonomous 3D Moving Target Encirclement and Interception with Range measurement},
     author = {Liu, F. and Yuan, Shenghai and Nguyen, T.-M. and Su, R.},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2025},
     pages = {4581--4588},
   }

10. BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure

    H. Cai , S. Yuan , X. Li , J. Guo , and J. Liu

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    Bib HTML Video

    @inproceedings{cai2025bevliolc,
      title = {BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure},
      author = {Cai, H. and Yuan, Shenghai and Li, X. and Guo, J. and Liu, J.},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {1290--1297},
    }

11. 

    CGS-SLAM: Compact 3D Gaussian Splatting for Dense Visual SLAM

    T. Deng , Y. Chen , J. Yang , S. Yuan , J. Liu , D. Wang , and W. Chen

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    DOI arXiv Bib HTML

    @inproceedings{deng2024compact,
      title = {CGS-SLAM: Compact 3D Gaussian Splatting for Dense Visual SLAM},
      author = {Deng, Tianchen and Chen, Yaohui and Yang, Jianfei and Yuan, Shenghai and Liu, Jiuming and Wang, Danwei and Chen, Weidong},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {1606--1613},
      doi = {10.1109/IROS60139.2025.11246845}
    }

12. 

    DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving

    W. Qu , J. Du , S. Yuan , J. Wang , Y. Sun , S. Liu , Y. Zhu , J. Yu , S. Cao , R. Xia , X. Tang , X. Wu , and D. Luo

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    Bib HTML

    @inproceedings{qu2025dpgpahybrid,
      title = {DPGP: A Hybrid 2D-3D Dual Path Potential Ghost Probe Zone Prediction Framework for Safe Autonomous Driving},
      author = {Qu, W. and Du, J. and Yuan, Shenghai and Wang, J. and Sun, Y. and Liu, S. and Zhu, Y. and Yu, J. and Cao, S. and Xia, R. and Tang, X. and Wu, X. and Luo, D.},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {20341--20348},
    }

13. 

    LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System

    J. Li , Z. Liu , X. Xu , X. Qin , J. Liu , S. Yuan , X. Fang , and L. Xie

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    Bib HTML

    @inproceedings{li2025limocalibon,
      title = {LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System},
      author = {Li, J. and Liu, Z. and Xu, X. and Qin, X. and Liu, J. and Yuan, Shenghai and Fang, X. and Xie, L.},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {8757--8764},
    }

14. QLIO: Quantized LiDAR-Inertial Odometry

    B. Lou , S. Yuan^* , J. Yang , W. Su , Y. Zhang , and E. Hu

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    Bib HTML Video

    @inproceedings{lou2025qlioquantizedlidar,
      title = {QLIO: Quantized LiDAR-Inertial Odometry},
      author = {Lou, B. and Yuan, Shenghai and Yang, J. and Su, W. and Zhang, Y. and Hu, E.},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {21811--21818},
    }

15. 

    Underwater target 6D State Estimation via UUV Attitude Enhance Observability

    F. Liu , C. Jia , N. Zhang , S. Yuan^* , and R. Su

    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

    Bib HTML

    @inproceedings{liu2025underwatertarget6d,
      title = {Underwater target 6D State Estimation via UUV Attitude Enhance Observability},
      author = {Liu, F. and Jia, C. and Zhang, N. and Yuan, Shenghai and Su, R.},
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year = {2025},
      pages = {8879--8885},
    }

16. ICCV

    UAVScenes: A Multi-Modal Dataset for UAVs

    S. Wang^† , S. Li^† , Y. Zhang^† , S. Yu^† , S. Yuan^†* , R. She^† , Q. Guo , J. Zheng , O. K. Howe , L. Chandra , S. Srijeyan , A. Sivadas , T. Aggarwal , H. Liu , H. Zhang , C. Chen , J. Jiang , L. Xie , and W. P. Tay

    In IEEE/CVF International Conference on Computer Vision (ICCV), 2025

    DOI arXiv Bib HTML Demo Code

    @inproceedings{wang2025uavscenesamulti,
      title = {UAVScenes: A Multi-Modal Dataset for UAVs},
      author = {Wang, Sijie and Li, Siqi and Zhang, Yawei and Yu, Shangshu and Yuan, Shenghai and She, Rui and Guo, Quanjiang and Zheng, JinXuan and Howe, Ong Kang and Chandra, Leonrich and Srijeyan, Shrivarshann and Sivadas, Aditya and Aggarwal, Toshan and Liu, Heyuan and Zhang, Hongming and Chen, Chujie and Jiang, Junyu and Xie, Lihua and Tay, Wee Peng},
      booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
      year = {2025},
      pages = {28946--28958},
      doi = {10.1109/ICCV51701.2025.02688},
    }

17. 

    Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-Scale Scenes

    T. Deng , N. Wang , C. Wang , S. Yuan , J. Wang , D. Wang , and W. Chen

    IEEE Transactions on Automation Science and Engineering (T-ASE), 2025

    arXiv Bib HTML

    @article{deng2024incremental,
      title = {Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-Scale Scenes},
      author = {Deng, Tianchen and Wang, Nailin and Wang, Chongdi and Yuan, Shenghai and Wang, Jingchuan and Wang, Danwei and Chen, Weidong},
      journal = {IEEE Transactions on Automation Science and Engineering (T-ASE)},
      year = {2025},
      volume = {22},
      pages = {22541--22552},
    }

18. 

    Gaussian Semantic Field for One-Shot LiDAR Global Localization

    P. Yin , S. Yuan , H. Cao , X. Ji , R. Bai , S. Chen , and L. Xie

    arXiv preprint arXiv:2510.12101, 2025

    arXiv Bib HTML

    @article{yin2025gaussiansemanticfield,
      title = {Gaussian Semantic Field for One-Shot LiDAR Global Localization},
      author = {Yin, P. and Yuan, Shenghai and Cao, H. and Ji, X. and Bai, R. and Chen, S. and Xie, L.},
      journal = {arXiv preprint arXiv:2510.12101},
      year = {2025},
    }

19. arXiv

    

    DVDP: An End-to-End Policy for Mobile Robot Visual Docking with RGB-D Perception

    H. Min , Z. Li^* , Y. Yang , J. Chen , and S. Yuan

    arXiv preprint arXiv:2509.13024, 2025

    arXiv Bib HTML

    @article{min2025dvdpanend,
      title = {DVDP: An End-to-End Policy for Mobile Robot Visual Docking with RGB-D Perception},
      author = {Min, Haohan and Li, Zhoujian and Yang, Yu and Chen, Jinyu and Yuan, Shenghai},
      journal = {arXiv preprint arXiv:2509.13024},
      year = {2025},
    }

20. 

    SignalLLM: A General-Purpose LLM Agent Framework for Automated Signal Processing

    J. Ke , Q. Hu , S. Yuan , Y. Xu , and J. Yang

    arXiv preprint arXiv:2509.17197, 2025

    arXiv Bib HTML

    @article{ke2025signalllmageneral,
      title = {SignalLLM: A General-Purpose LLM Agent Framework for Automated Signal Processing},
      author = {Ke, J. and Hu, Q. and Yuan, Shenghai and Xu, Y. and Yang, J.},
      journal = {arXiv preprint arXiv:2509.17197},
      year = {2025},
    }

21. Preprint

    STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response

    S. Yuan , W. Guo , T. Hu , Y. Yang , J. Chen , R. Qian , Z. Liu , and L. Xie

    arXiv preprint arXiv:2509.15507, 2025

    Nanyang Technological University, Singapore

    arXiv Bib HTML PDF Demo

    @article{yuan2025starcseethrough,
      title = {STARC: See-Through-Wall Augmented Reality Framework for Human-Robot Collaboration in Emergency Response},
      author = {Yuan, Shenghai and Guo, Weixiang and Hu, Tianxin and Yang, Yu and Chen, Jinyu and Qian, Rui and Liu, Zhongyuan and Xie, Lihua},
      journal = {arXiv preprint arXiv:2509.15507},
      year = {2025},
      note = {Nanyang Technological University, Singapore},
    }

22. 

    Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing

    J. Li , T.-M. Nguyen , M. Cao , S. Yuan , T.-Y. Hung , and L. Xie

    IEEE Transactions on Intelligent Transportation Systems, 2025

    Bib HTML

    @article{li2024graph,
      title = {Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing},
      author = {Li, Jianping and Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Hung, Tzu-Yi and Xie, Lihua},
      journal = {IEEE Transactions on Intelligent Transportation Systems},
      year = {2025},
      volume = {26},
      number = {11},
      pages = {19076--19091},
    }

23. RA-L

    EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events

    S. Chen^† , S. Yuan^† , T.-M. Nguyen , Z. Huang , C. Shi , J. Jin , and L. Xie

    IEEE Robotics and Automation Letters (RA-L), 2025

    DOI Bib HTML Video Code

    @article{chen2025egsslamrgb,
      title = {EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events},
      author = {Chen, Siyu and Yuan, Shenghai and Nguyen, Thien-Minh and Huang, Zhuyu and Shi, Chenyang and Jin, Jing and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RA-L)},
      year = {2025},
      volume = {10},
      number = {10},
      pages = {10003--10010},
      doi = {10.1109/LRA.2025.3598665},
    }

24. RA-L

    Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information

    K. Xu^† , Z. Jiang^† , H. Cao , S. Yuan , C. Wang , and L. Xie^*

    IEEE Robotics and Automation Letters (RA-L), 2025

    Bib HTML Video Code

    @article{xu2025enhancingscenecoordinate,
      title = {Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information},
      author = {Xu, Kuan and Jiang, Zeyu and Cao, Haozhi and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RA-L)},
      year = {2025},
      volume = {10},
      number = {10},
      pages = {9932--9939},
    }

25. RA-L

    Following Is All You Need: Robot Crowd Navigation Using People As Planners

    Y. Liao^† , X. Xu^† , R. Bai , Y. Yang , M. Cao , S. Yuan , and L. Xie

    IEEE Robotics and Automation Letters (RA-L), 2025

    Bib HTML Video Code

    @article{liao2025followingisall,
      title = {Following Is All You Need: Robot Crowd Navigation Using People As Planners},
      author = {Liao, Yuwen and Xu, Xinhang and Bai, Ruofei and Yang, Yizhuo and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RA-L)},
      year = {2025},
      volume = {10},
      number = {10},
      pages = {9814--9821},
    }

26. 

    LL-Localizer: A Life-Long Localization System Based on Dynamic i-Octree

    X. Li , S. Yuan , H. Cai , S. Lu , W. Wang , and J. Liu

    IEEE Transactions on Instrumentation & Measurement, 2025

    Bib HTML

    @article{li2025lllocalizera,
      title = {LL-Localizer: A Life-Long Localization System Based on Dynamic i-Octree},
      author = {Li, X. and Yuan, Shenghai and Cai, H. and Lu, S. and Wang, W. and Liu, J.},
      journal = {IEEE Transactions on Instrumentation & Measurement},
      year = {2025},
      volume = {74},
      pages = {1--11},
    }

27. RA-L

    MagPerch: A Magnetically Locked, Lightweight Perching Mechanism for Micro-Aerial-Vehicles

    A. Lee , S. Yuan , Z. Shen , and H. Zhang

    IEEE Robotics and Automation Letters (RA-L), 2025

    DOI Bib HTML Demo Code

    @article{lee2025magperchamagnetically,
      title = {MagPerch: A Magnetically Locked, Lightweight Perching Mechanism for Micro-Aerial-Vehicles},
      author = {Lee, A. and Yuan, Shenghai and Shen, Z. and Zhang, H.},
      journal = {IEEE Robotics and Automation Letters (RA-L)},
      year = {2025},
      volume = {10},
      number = {10},
      pages = {10370--10377},
      doi = {10.1109/LRA.2025.3597896},
    }

28. 

    CleanUpBench: Embodied Sweeping and Grasping Benchmark

    W. Li , G. Chen , T. Zhao , J. Wang , T. Hu , Y. Liao , W. Guo , and S. Yuan^*

    arXiv preprint arXiv:2508.05543, 2025

    arXiv Bib HTML

    @article{li2025cleanupbenchembodiedsweeping,
      title = {CleanUpBench: Embodied Sweeping and Grasping Benchmark},
      author = {Li, W. and Chen, G. and Zhao, T. and Wang, J. and Hu, T. and Liao, Y. and Guo, W. and Yuan, Shenghai},
      journal = {arXiv preprint arXiv:2508.05543},
      year = {2025},
    }

29. RAM

    

    Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-Uncrewed-Aerial-Vehicle Planning and Lessons Learned

    M. Cao^† , T.-M. Nguyen^†* , S. Yuan , A. Anastasiou , A. Zacharia , S. Papaioannou , P. Kolios , C. G. Panayiotou , M. M. Polycarpou , X. Xu , M. Zhang , F. Gao , B. Zhou , B. M. Chen , and L. Xie

    IEEE Robotics and Automation Magazine (RAM), 2026

    DOI Bib HTML

    @article{cao2025cooperativeaerialrobot,
      title = {Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-Uncrewed-Aerial-Vehicle Planning and Lessons Learned},
      author = {Cao, Muqing and Nguyen, Thien-Minh and Yuan, Shenghai and Anastasiou, Andreas and Zacharia, Angelos and Papaioannou, Savvas and Kolios, Panayiotis and Panayiotou, Christos G. and Polycarpou, Marios M. and Xu, Xinhang and Zhang, Mingjie and Gao, Fei and Zhou, Boyu and Chen, Ben M. and Xie, Lihua},
      journal = {IEEE Robotics and Automation Magazine (RAM)},
      year = {2026},
      pages = {125--136},
      volume = {33},
      number = {2},
      doi = {10.1109/MRA.2025.3584341},
    }

30. 

    Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues

    H. Liang , S. Yuan^* , F. Liu , Y. Yang , B. Wang , Z. Huang , C. Shi , and J. Jin

    arXiv preprint arXiv:2507.03365, 2025

    arXiv Bib HTML

    @article{liang2025labelfreelong,
      title = {Label-Free Long-Horizon 3D UAV Trajectory Prediction via Motion-Aligned RGB and Event Cues},
      author = {Liang, H. and Yuan, Shenghai and Liu, F. and Yang, Y. and Wang, B. and Huang, Z. and Shi, C. and Jin, J.},
      journal = {arXiv preprint arXiv:2507.03365},
      year = {2025},
    }

31. 

    MNE-SLAM: Multi-Agent Neural SLAM for Mobile Robots

    T. Deng , G. Shen , C. Xun , S. Yuan , J. Tongxing , H. Shen , Y. Wang , J. Wang , H. Wang , D. Wang , and W. Chen

    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025

    Bib HTML

    @inproceedings{deng2025mneslammulti,
      title = {MNE-SLAM: Multi-Agent Neural SLAM for Mobile Robots},
      author = {Deng, T. and Shen, G. and Xun, C. and Yuan, Shenghai and Tongxing, J. and Shen, H. and Wang, Y. and Wang, J. and Wang, H. and Wang, D. and Chen, W.},
      booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
      year = {2025},
      pages = {1485--1494},
    }

32. 

    MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation

    T. Deng , G. Shen , X. Chen , S. Yuan , H. Shen , G. Peng , Z. Wu , J. Wang , L. Xie , D. Wang , H. Wang , and W. Chen

    arXiv preprint arXiv:2506.18678, 2025

    arXiv Bib HTML

    @article{deng2025mcnslammulti,
      title = {MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation},
      author = {Deng, T. and Shen, G. and Chen, X. and Yuan, Shenghai and Shen, H. and Peng, G. and Wu, Z. and Wang, J. and Xie, L. and Wang, D. and Wang, H. and Chen, W.},
      journal = {arXiv preprint arXiv:2506.18678},
      year = {2025},
    }

33. ICRA

    Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process

    S. Yuan , B. Lou , T.-M. Nguyen , P. Yin , M. Cao , X. Xu , J. Li , J. Xu , S. Chen , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    arXiv Bib HTML Video Demo

    @inproceedings{yuan2025largescaleuwb,
      title = {Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process},
      author = {Yuan, Shenghai and Lou, B. and Nguyen, T.-M. and Yin, P. and Cao, M. and Xu, X. and Li, J. and Xu, J. and Chen, S. and Xie, L.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {3132--3138},
    }

34. 

    GERA: Geometric Embedding for Efficient Point Registration Analysis

    G. Li , H. Cao , M. Liu , S. Yuan , and J. Yang

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    Bib HTML

    @inproceedings{li2024gera,
      title = {GERA: Geometric Embedding for Efficient Point Registration Analysis},
      author = {Li, Geng and Cao, Haozhi and Liu, Mingyang and Yuan, Shenghai and Yang, Jianfei},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {11097--11103},
    }

35. 

    HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions

    J. Li , Q. Leng , J. Liu , X. Xu , T. Jin , M. Cao , T.-M. Nguyen , S. Yuan , K. Cao , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    Bib HTML

    @inproceedings{li2024helmetposer,
      title = {HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions},
      author = {Li, Jianping and Leng, Qiutong and Liu, Jinxing and Xu, Xinhang and Jin, Tongxin and Cao, Muqing and Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Kun and Xie, Lihua},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {5893--5898},
    }

36. 

    Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles

    R. Bai , S. Yuan , K. Li , H. Guo , W.-Y. Yau , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    Bib HTML

    @inproceedings{bai2025realmrealtime,
      title = {Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles},
      author = {Bai, R. and Yuan, Shenghai and Li, K. and Guo, H. and Yau, W.-Y. and Xie, L.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {7363--7369},
    }

37. Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs

    T. Hu , S. Yuan^* , R. Bai , X. Xu , Y. Liao , F. Liu , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    Bib HTML Video

    @inproceedings{hu2025sweptvolumeaware,
      title = {Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs},
      author = {Hu, T. and Yuan, Shenghai and Bai, R. and Xu, X. and Liao, Y. and Liu, F. and Xie, L.},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {13675--13682},
    }

38. 

    ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges

    T.-M. Nguyen , Y. Yang , T.-D. Nguyen , S. Yuan , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2025

    Bib HTML

    @inproceedings{nguyen2024uloc,
      title = {ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges},
      author = {Nguyen, Thien-Minh and Yang, Yizhuo and Nguyen, Tien-Dat and Yuan, Shenghai and Xie, Lihua},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2025},
      pages = {5766--5772},
    }

39. Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion

    Y. Yang , J. Zhao , X. Xu , K. Cao , S. Yuan^* , and L. Xie

    arXiv preprint arXiv:2505.05811, 2025

    arXiv Bib HTML Video

    @article{yang2025unsupervisedanomalydetection,
      title = {Unsupervised Anomaly Detection for Autonomous Robots via Mahalanobis SVDD with Audio-IMU Fusion},
      author = {Yang, Y. and Zhao, J. and Xu, X. and Cao, K. and Yuan, Shenghai and Xie, L.},
      journal = {arXiv preprint arXiv:2505.05811},
      year = {2025},
    }

40. 

    Dynamic Initialization for LiDAR-Inertial SLAM

    J. Xu , Y. Ma , Y. Li , X. Zhang , J. Zhou , S. Yuan^* , and L. Xie

    IEEE/ASME Transactions on Mechatronics, 2025

    Bib HTML

    @article{xu2025dynamicinitializationfor,
      title = {Dynamic Initialization for LiDAR-Inertial SLAM},
      author = {Xu, J. and Ma, Y. and Li, Y. and Zhang, X. and Zhou, J. and Yuan, Shenghai and Xie, L.},
      journal = {IEEE/ASME Transactions on Mechatronics},
      year = {2025},
      pages = {1--12},
    }

41. 

    Audio Array-Based 3D UAV Trajectory Estimation with LiDAR Pseudo-Labeling

    A. Lei , T. Deng , H. Wang , J. Yang , and S. Yuan^*

    In IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2025

    Bib HTML

    @inproceedings{lei2025audioarraybased,
      title = {Audio Array-Based 3D UAV Trajectory Estimation with LiDAR Pseudo-Labeling},
      author = {Lei, A. and Deng, T. and Wang, H. and Yang, J. and Yuan, Shenghai},
      booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
      year = {2025},
      pages = {1--5},
    }

42. 

    Unsupervised UAV 3D Trajectories Estimation with Sparse Point Clouds

    H. Liang , Y. Yang , J. Hu , J. Yang , F. Liu , and S. Yuan^*

    In IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2025

    Bib HTML

    @inproceedings{liang2025unsuperviseduav3d,
      title = {Unsupervised UAV 3D Trajectories Estimation with Sparse Point Clouds},
      author = {Liang, H. and Yang, Y. and Hu, J. and Yang, J. and Liu, F. and Yuan, Shenghai},
      booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
      year = {2025},
      pages = {1--5},
    }

43. NVP-HRI: Zero Shot Natural Voice and Posture-Based Human-Robot Interaction via Large Language Model

    Y. Lai , S. Yuan^* , Y. Nassar , M. Fan , T. Weber , and M. Ratsch

    Expert Systems with Applications (ESWA), 2025

    Bib HTML Video

    @article{lai2025nvphrizero,
      title = {NVP-HRI: Zero Shot Natural Voice and Posture-Based Human-Robot Interaction via Large Language Model},
      author = {Lai, Y. and Yuan, Shenghai and Nassar, Y. and Fan, M. and Weber, T. and Ratsch, M.},
      journal = {Expert Systems with Applications (ESWA)},
      year = {2025},
      volume = {268},
      eid = {126360},
    }

44. 

    Natural Multimodal Fusion-Based Human-Robot Interaction: Application With Voice and Deictic Posture via Large Language Model

    Y. Lai , S. Yuan^* , Y. Nassar , M. Fan , A. Gopal , A. Yorita , N. Kubota , and M. Ratsch

    IEEE Robotics and Automation Magazine (RAM), 2025

    Bib HTML

    @article{lai2025naturalmultimodalfusion,
      title = {Natural Multimodal Fusion-Based Human-Robot Interaction: Application With Voice and Deictic Posture via Large Language Model},
      author = {Lai, Y. and Yuan, Shenghai and Nassar, Y. and Fan, M. and Gopal, A. and Yorita, A. and Kubota, N. and Ratsch, M.},
      journal = {IEEE Robotics and Automation Magazine (RAM)},
      year = {2025},
      volume = {33},
      number = {2},
      pages = {29--38},
    }

45. Relative Localizability and Localization for Multi-Robot Systems

    L. Chen , C. Liang , S. Yuan , M. Cao , and L. Xie

    IEEE Transactions on Robotics (TRO), 2025

    Bib HTML Video

    @article{chen2025relativelocalizabilityand,
      title = {Relative Localizability and Localization for Multi-Robot Systems},
      author = {Chen, L. and Liang, C. and Yuan, Shenghai and Cao, M. and Xie, L.},
      journal = {IEEE Transactions on Robotics (TRO)},
      year = {2025},
      volume = {41},
      pages = {2931--2949},
    }

46. TRO

    

    AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System

    K. Xu , Y. Hao , S. Yuan , C. Wang , and L. Xie

    IEEE Transactions on Robotics (TRO), 2025

    DOI Bib HTML

    @article{xu2024airslam,
      title = {AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System},
      author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
      journal = {IEEE Transactions on Robotics (TRO)},
      year = {2025},
      volume = {41},
      pages = {1673--1692},
      doi = {10.1109/tro.2025.3539171},
    }

47. RA-L

    UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry

    J. Li^* , X. Xu , J. Liu , K. Cao , S. Yuan , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2025

    Bib HTML Video Code

    @article{li2025uampcuncertainty,
      title = {UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry},
      author = {Li, Jianping and Xu, Xinhang and Liu, Jinxin and Cao, Kun and Yuan, Shenghai and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2025},
      volume = {10},
      number = {4},
      pages = {3652--3659},
    }

2024

1. 

   Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry

   C. Zhao , K. Hu , J. Xu , L. Zhao , B. Han , K. Wu , M. Tian , and S. Yuan

   IEEE Internet of Things Journal (IoT-J), 2025

   Bib HTML

   @article{zhao2025adaptivelioenhancing,
     title = {Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry},
     author = {Zhao, C. and Hu, K. and Xu, J. and Zhao, L. and Han, B. and Wu, K. and Tian, M. and Yuan, Shenghai},
     journal = {IEEE Internet of Things Journal (IoT-J)},
     year = {2025},
     volume = {12},
     number = {9},
     pages = {12123--12136},
   }

2. RA-L

   Robust Loop Closure by Textual Cues in Challenging Environments

   T. Jin^† , T.-M. Nguyen^† , X. Xu , Y. Yang , S. Yuan^* , J. Li , and L. Xie

   IEEE Robotics and Automation Letters (RAL), 2025

   DOI Bib HTML Video

   @article{jin2024robust,
     title = {Robust Loop Closure by Textual Cues in Challenging Environments},
     author = {Jin, Tongxing and Nguyen, Thien-Minh and Xu, Xinhang and Yang, Yizhuo and Yuan, Shenghai and Li, Jianping and Xie, Lihua},
     journal = {IEEE Robotics and Automation Letters (RAL)},
     year = {2025},
     volume = {10},
     number = {1},
     pages = {812--819},
     doi = {10.1109/LRA.2024.3511397},
   }

3. 

   Distance-Based Multiple Non-Cooperative Ground Target Encirclement for Complex Environments

   F. Liu , S. Yuan^* , K. Cao , W. Meng , and L. Xie

   IEEE Transactions on Control Systems Technology (TCST), 2025

   DOI arXiv Bib HTML Video Code

   @article{liu2024distance,
     title = {Distance-Based Multiple Non-Cooperative Ground Target Encirclement for Complex Environments},
     author = {Liu, Fen and Yuan, Shenghai and Cao, Kun and Meng, Wei and Xie, Lihua},
     journal = {IEEE Transactions on Control Systems Technology (TCST)},
     year = {2025},
     volume = {33},
     number = {1},
     pages = {261--273},
     doi = {10.1109/TCST.2024.3469032},
   }

4. 

   I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

   Y. Lu , J. Xu , C. Zhao , L. Zhao , T.-M. Nguyen , S. Yuan , M. Bai , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   arXiv Bib HTML Video Code

   @inproceedings{lu2024i2ekflo,
     title = {I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry},
     author = {Lu, YuWen and Xu, Jie and Zhao, Chengwei and Zhao, Lijun and Nguyen, Thien-Minh and Yuan, Shenghai and Bai, Mingming and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
     pages = {10452--10459},
   }

5. 

   Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization

   R. Bai , S. Yuan , H. Guo , P. Yin , W.-Y. Yau , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   arXiv Bib HTML Video Code

   @inproceedings{bai2024collaborative,
     title = {Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization},
     author = {Bai, Ruofei and Yuan, Shenghai and Guo, Hongliang and Yin, Pengyu and Yau, Wei-Yun and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
     pages = {10229--10236},
   }

6. 

   PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing

   J. Li , T.-M. Nguyen , S. Yuan , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

   arXiv Bib HTML Video

   @inproceedings{li2024pssba,
     title = {PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing},
     author = {Li, Jianping and Nguyen, Thien-Minh and Yuan, Shenghai and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2024},
     pages = {1124--1129},
   }

7. RA-L

   SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment

   X. Ji , S. Yuan^* , J. Li , P. Yin , H. Cao , and L. Xie

   IEEE Robotics and Automation Letters (RAL), 2024

   DOI arXiv Bib HTML Video Code

   @article{ji2024sgba,
     title = {SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment},
     author = {Ji, Xingyu and Yuan, Shenghai and Li, Jianping and Yin, Pengyu and Cao, Haozhi and Xie, Lihua},
     journal = {IEEE Robotics and Automation Letters (RAL)},
     year = {2024},
     volume = {9},
     number = {12},
     pages = {10922--10929},
     doi = {10.1109/LRA.2024.3479699},
   }

8. 

   Reliable Spatial-Temporal Voxels For Multi-Modal Test-Time Adaptation

   H. Cao , Y. Xu , J. Yang , P. Yin , X. Ji , S. Yuan , and L. Xie

   In Computer Vision – ECCV 2024, Lecture Notes in Computer Science, 2024

   Bib HTML

   @inproceedings{cao2025reliable,
     title = {Reliable Spatial-Temporal Voxels For Multi-Modal Test-Time Adaptation},
     author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Ji, Xingyu and Yuan, Shenghai and Xie, Lihua},
     booktitle = {Computer Vision – ECCV 2024, Lecture Notes in Computer Science},
     year = {2024},
     volume = {15086},
     pages = {232--249},
   }

9. 

   A Fast and Light-Weight Non-Iterative Visual Odometry with RGB-D Cameras

   Z. Yang , K. Xu , S. Yuan , and L. Xie

   Unmanned Systems (US), 2025

   Bib HTML

   @article{yang2024fast,
     title = {A Fast and Light-Weight Non-Iterative Visual Odometry with RGB-D Cameras},
     author = {Yang, Zheng and Xu, Kuan and Yuan, Shenghai and Xie, Lihua},
     journal = {Unmanned Systems (US)},
     year = {2025},
     volume = {13},
     number = {3},
     pages = {957--969},
   }

10. 

    AV-FDTI: Audio-Visual Fusion for Drone Threat Identification

    Y. Yang , S. Yuan , J. Yang , T. H. Nguyen , M. Cao , T.-M. Nguyen , H. Wang , and L. Xie

    Journal of Automation and Intelligence, 2024

    Bib HTML

    @article{yang2024av,
      title = {AV-FDTI: Audio-Visual Fusion for Drone Threat Identification},
      author = {Yang, Yizhuo and Yuan, Shenghai and Yang, Jianfei and Nguyen, Thien Hoang and Cao, Muqing and Nguyen, Thien-Minh and Wang, Han and Xie, Lihua},
      journal = {Journal of Automation and Intelligence},
      year = {2024},
      volume = {3},
      number = {3},
      pages = {144--151},
    }

11. 

    M-DIVO: Multiple ToF RGB-D Cameras Enhanced Depth-Inertial-Visual Odometry

    J. Xu , W. Yu , S. Huang , S. Yuan , L. Zhao , R. Li , and L. Xie

    IEEE Internet of Things Journal (IoT-J), 2024

    DOI Bib HTML

    @article{xu2024m,
      title = {M-DIVO: Multiple ToF RGB-D Cameras Enhanced Depth-Inertial-Visual Odometry},
      author = {Xu, Jie and Yu, Wenlu and Huang, Song and Yuan, Shenghai and Zhao, Lijun and Li, Ruifeng and Xie, Lihua},
      journal = {IEEE Internet of Things Journal (IoT-J)},
      year = {2024},
      volume = {11},
      number = {23},
      pages = {37562--37570},
      doi = {10.1109/JIOT.2024.3434588},
    }

12. 

    A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System

    X. Xu , M. Cao , S. Yuan , T. H. Nguyen , T.-M. Nguyen , and L. Xie

    In 18th IEEE International Conference on Control and Automation (ICCA), 2024

    Bib HTML

    @inproceedings{xu2024costeffective,
      title = {A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System},
      author = {Xu, Xinhang and Cao, Muqing and Yuan, Shenghai and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Xie, Lihua},
      booktitle = {18th IEEE International Conference on Control and Automation (ICCA)},
      year = {2024},
      pages = {673--678},
    }

13. 

    MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception

    T.-M. Nguyen , S. Yuan^* , T. H. Nguyen , P. Yin , H. Cao , L. Xie , M. Wozniak , P. Jensfelt , M. Thiel , J. Ziegenbein , and N. Blunder

    In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024

    arXiv Bib HTML Code

    @inproceedings{nguyen2024mcd,
      title = {MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception},
      author = {Nguyen, Thien-Minh and Yuan, Shenghai and Nguyen, Thien Hoang and Yin, Pengyu and Cao, Haozhi and Xie, Lihua and Wozniak, Maciej and Jensfelt, Patric and Thiel, Marko and Ziegenbein, Justin and Blunder, Noel},
      booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
      year = {2024},
      pages = {22304--22313},
    }

14. 

    MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

    Y. Ma , J. Xu , S. Yuan , T. Zhi , W. Yu , J. Zhou , and L. Xie

    IEEE Transactions on Intelligent Vehicles (TIV), 2025

    Bib HTML

    @article{ma2024mm,
      title = {MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments},
      author = {Ma, Yongxin and Xu, Jie and Yuan, Shenghai and Zhi, Tian and Yu, Wenlu and Zhou, Jun and Xie, Lihua},
      journal = {IEEE Transactions on Intelligent Vehicles (TIV)},
      year = {2025},
      volume = {10},
      number = {1},
      pages = {472--482},
    }

15. ICRA

    MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats

    S. Yuan , Y. Yang , T. H. Nguyen , T.-M. Nguyen , J. Yang , F. Liu , J. Li , H. Wang , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2024

    DOI arXiv Bib HTML Video Demo Code Hugging Face

    @inproceedings{yuan2024MMAUD,
      title = {MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats},
      author = {Yuan, Shenghai and Yang, Yizhuo and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Yang, Jianfei and Liu, Fen and Li, Jianping and Wang, Han and Xie, Lihua},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
      pages = {2745--2751},
      doi = {10.1109/ICRA57147.2024.10610957},
    }

16. 

    Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method

    Q. Li , and S. Yuan

    In IEEE International Conference on Robotics and Automation (ICRA), 2024

    DOI Bib HTML

    @inproceedings{li2024jacquard,
      title = {Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method},
      author = {Li, Qiuhao and Yuan, Shenghai},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
      pages = {7932--7938},
      doi = {10.1109/ICRA57147.2024.10611652},
    }

17. 

    MoPA: Multi-Modal Prior Aided Domain Adaptation for 3D Semantic Segmentation

    H. Cao , Y. Xu , J. Yang , P. Yin , S. Yuan , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2024

    Bib HTML

    @inproceedings{cao2024mopa,
      title = {MoPA: Multi-Modal Prior Aided Domain Adaptation for 3D Semantic Segmentation},
      author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Yuan, Shenghai and Xie, Lihua},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
      pages = {9463--9470},
    }

18. 

    Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning

    P. Yin , H. Cao , T.-M. Nguyen , S. Yuan , S. Zhang , K. Liu , and L. Xie

    In IEEE International Conference on Robotics and Automation (ICRA), 2024

    Bib HTML

    @inproceedings{yin2024outram,
      title = {Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning},
      author = {Yin, Pengyu and Cao, Haozhi and Nguyen, Thien-Minh and Yuan, Shenghai and Zhang, Shuyang and Liu, Kangcheng and Xie, Lihua},
      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024},
      pages = {13717--13723},
    }

19. 

    HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System

    J. Li , S. Yuan , M. Cao , T.-M. Nguyen , K. Cao , and L. Xie

    ISPRS Journal of Photogrammetry and Remote Sensing, 2024

    Bib HTML

    @article{li2024hcto,
      title = {HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System},
      author = {Li, Jianping and Yuan, Shenghai and Cao, Muqing and Nguyen, Thien-Minh and Cao, Kun and Xie, Lihua},
      journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
      year = {2024},
      volume = {211},
      pages = {228--243},
    }

20. 

    Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association

    T.-M. Nguyen , X. Xu , T. Jin , Y. Yang , J. Li , S. Yuan , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2024

    arXiv Bib HTML Code

    @article{nguyen2024eigen,
      title = {Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association},
      author = {Nguyen, Thien-Minh and Xu, Xinhang and Jin, Tongxing and Yang, Yizhuo and Li, Jianping and Yuan, Shenghai and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2024},
      volume = {9},
      number = {6},
      pages = {5330--5337},
    }

21. 

    Salient Sparse Visual Odometry With Pose-Only Supervision

    S. Chen , K. Liu , C. Wang , S. Yuan , J. Yang , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2024

    Bib HTML

    @article{chen2024salient,
      title = {Salient Sparse Visual Odometry With Pose-Only Supervision},
      author = {Chen, Siyu and Liu, Kangcheng and Wang, Chen and Yuan, Shenghai and Yang, Jianfei and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2024},
      volume = {9},
      number = {5},
      pages = {4774--4781},
    }

22. 

    Latte++: Spatial-Temporal Voxel-Based Test-Time Adaptation for Multi-Modal Segmentation

    H. Cao , Y. Xu , P. Yin , X. Ji , S. Yuan , J. Yang , and L. Xie

    arXiv preprint arXiv:2403.06461, 2024

    arXiv Bib HTML

    @article{cao2024lattespatialtemporal,
      title = {Latte++: Spatial-Temporal Voxel-Based Test-Time Adaptation for Multi-Modal Segmentation},
      author = {Cao, H. and Xu, Y. and Yin, P. and Ji, X. and Yuan, Shenghai and Yang, J. and Xie, L.},
      journal = {arXiv preprint arXiv:2403.06461},
      year = {2024},
    }

23. 

    Lio-GVM: An Accurate, Tightly-Coupled LiDAR-Inertial Odometry with Gaussian Voxel Map

    X. Ji , S. Yuan , P. Yin , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2024

    Bib HTML

    @article{ji2024lio,
      title = {Lio-GVM: An Accurate, Tightly-Coupled LiDAR-Inertial Odometry with Gaussian Voxel Map},
      author = {Ji, Xingyu and Yuan, ShengHai and Yin, Pengyu and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2024},
      volume = {9},
      number = {3},
      pages = {2200--2207},
    }

24. 

    iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry

    Z. Chen , Y. Xu , S. Yuan , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2024

    Bib HTML

    @article{chen2024ig,
      title = {iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry},
      author = {Chen, Zijie and Xu, Yong and Yuan, Shenghai and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2024},
      volume = {9},
      number = {2},
      pages = {1883--1890},
    }

25. 

    UAPGO: Uncertainty-Aware Pose Graph Optimization for LiDAR-Based SLAM Systems

    T. Zhi , J. Xu , Y. Ma , W. Yu , S. Liu , and S. Yuan

    Preprint, 2024

    Bib HTML

    @article{zhi2024uapgouncertaintyaware,
      title = {UAPGO: Uncertainty-Aware Pose Graph Optimization for LiDAR-Based SLAM Systems},
      author = {Zhi, T. and Xu, J. and Ma, Y. and Yu, W. and Liu, S. and Yuan, Shenghai},
      journal = {Preprint},
      year = {2024},
    }

2023

1. 

   MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing

   J. Yang , H. Huang , Y. Zhou , X. Chen , Y. Xu , S. Yuan , H. Zou , C. X. Lu , and L. Xie

   In Advances in Neural Information Processing Systems (NeurIPS), 2023

   Bib HTML

   @inproceedings{yang2024mm,
     title = {MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing},
     author = {Yang, Jianfei and Huang, He and Zhou, Yunjiao and Chen, Xinyan and Xu, Yuecong and Yuan, Shenghai and Zou, Han and Lu, Chris Xiaoxuan and Xie, Lihua},
     booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
     year = {2023},
     volume = {36},
   }

2. 

   Airvo: An illumination-robust point-line visual odometry

   K. Xu , Y. Hao , S. Yuan , C. Wang , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Bib HTML

   @inproceedings{xu2023airvo,
     title = {Airvo: An illumination-robust point-line visual odometry},
     author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2023},
     pages = {3429--3436},
   }

3. 

   AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness

   Y. Yang , S. Yuan , M. Cao , J. Yang , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Bib HTML

   @inproceedings{yang2023av,
     title = {AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness},
     author = {Yang, Yizhuo and Yuan, Shenghai and Cao, Muqing and Yang, Jianfei and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2023},
     pages = {1871--1877},
   }

4. 

   DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels

   M. Cao , X. Xu , S. Yuan , K. Cao , K. Liu , and L. Xie

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Bib HTML

   @inproceedings{cao2023doublebee,
     title = {DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels},
     author = {Cao, Muqing and Xu, Xinhang and Yuan, Shenghai and Cao, Kun and Liu, Kangcheng and Xie, Lihua},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2023},
     pages = {6962--6969},
   }

5. 

   Multi-Modal Continual Test-Time Adaptation for 3D Semantic Segmentation

   H. Cao , Y. Xu , J. Yang , P. Yin , S. Yuan , and L. Xie

   In IEEE/CVF International Conference on Computer Vision (ICCV), 2023

   Bib HTML

   @inproceedings{cao2023multi,
     title = {Multi-Modal Continual Test-Time Adaptation for 3D Semantic Segmentation},
     author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Yuan, Shenghai and Xie, Lihua},
     booktitle = {IEEE/CVF International Conference on Computer Vision (ICCV)},
     year = {2023},
     pages = {18763--18773},
   }

6. 

   Vision-Based Plane Estimation and Following for Building Inspection with Autonomous UAV

   Y. Lyu , M. Cao , S. Yuan , and L. Xie

   IEEE Transactions on Systems, Man, and Cybernetics: Systems (TSMCS), 2023

   Bib HTML

   @article{lyu2023vision,
     title = {Vision-Based Plane Estimation and Following for Building Inspection with Autonomous UAV},
     author = {Lyu, Yang and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
     journal = {IEEE Transactions on Systems, Man, and Cybernetics: Systems (TSMCS)},
     year = {2023},
     volume = {53},
     number = {12},
     pages = {7475--7488},
   }

7. 

   Path Planning for Multiple Tethered Robots Using Topological Braids

   M. Cao , K. Cao , S. Yuan , K. Liu , Y. L. Wong , and L. Xie

   In Robotics: Science and Systems XIX (RSS), 2023

   Bib HTML

   @inproceedings{cao2023path,
     title = {Path Planning for Multiple Tethered Robots Using Topological Braids},
     author = {Cao, Muqing and Cao, Kun and Yuan, Shenghai and Liu, Kangcheng and Wong, Yan Loi and Xie, Lihua},
     booktitle = {Robotics: Science and Systems XIX (RSS)},
     year = {2023},
   }

8. 

   Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement

   F. Liu , S. Yuan , W. Meng , R. Su , and L. Xie

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib HTML

   @inproceedings{liu2023non,
     title = {Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement},
     author = {Liu, Fen and Yuan, Shenghai and Meng, Wei and Su, Rong and Xie, Lihua},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
     pages = {5480--5485},
   }

9. 

   Segregator: Global Point Cloud Registration with Semantic and Geometric Cues

   P. Yin , S. Yuan , H. Cao , X. Ji , S. Zhang , and L. Xie

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib HTML

   @inproceedings{yin2023segregator,
     title = {Segregator: Global Point Cloud Registration with Semantic and Geometric Cues},
     author = {Yin, Pengyu and Yuan, Shenghai and Cao, Haozhi and Ji, Xingyu and Zhang, Shuyang and Xie, Lihua},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2023},
     pages = {2848--2854},
   }

10. 

    SE-Calib: Semantic Edge-Based LiDAR-Camera Boresight Online Calibration in Urban Scenes

    Y. Liao , J. Li , S. Kang , Q. Li , G. Zhu , S. Yuan , Z. Dong , and B. Yang

    IEEE Transactions on Geoscience and Remote Sensing (TGRS), 2023

    Bib HTML

    @article{liao2023se,
      title = {SE-Calib: Semantic Edge-Based LiDAR-Camera Boresight Online Calibration in Urban Scenes},
      author = {Liao, Youqi and Li, Jianping and Kang, Shuhao and Li, Qiang and Zhu, Guifang and Yuan, Shenghai and Dong, Zhen and Yang, Bisheng},
      journal = {IEEE Transactions on Geoscience and Remote Sensing (TGRS)},
      year = {2023},
      volume = {61},
      pages = {1--13},
    }

11. 

    NEPTUNE: Non-Entangling Planning for Multiple Tethered Unmanned Vehicles

    M. Cao , K. Cao , S. Yuan , T.-M. Nguyen , and L. Xie

    IEEE Transactions on Robotics (TRO), 2023

    Bib HTML

    @article{cao2023neptune,
      title = {NEPTUNE: Non-Entangling Planning for Multiple Tethered Unmanned Vehicles},
      author = {Cao, Muqing and Cao, Kun and Yuan, Shenghai and Nguyen, Thien-Minh and Xie, Lihua},
      journal = {IEEE Transactions on Robotics (TRO)},
      year = {2023},
      volume = {39},
      pages = {1--19},
    }

12. MetaFi++: WiFi-Enabled Transformer-Based Human Pose Estimation for Metaverse Avatar Simulation

    Y. Zhou , H. Huang , S. Yuan , H. Zou , L. Xie , and J. Yang

    IEEE Internet of Things Journal (IoT-J), 2023

    Bib HTML Video

    @article{zhou2023metafi++,
      title = {MetaFi++: WiFi-Enabled Transformer-Based Human Pose Estimation for Metaverse Avatar Simulation},
      author = {Zhou, Yunjiao and Huang, He and Yuan, Shenghai and Zou, Han and Xie, Lihua and Yang, Jianfei},
      journal = {IEEE Internet of Things Journal (IoT-J)},
      year = {2023},
      volume = {10},
      number = {16},
      pages = {14128--14136},
    }

13. 

    Multiple Non-Cooperative Targets Encirclement by Relative Distance Based Positioning and Neural Anti-Synchronization Control

    F. Liu , S. Yuan , W. Meng , R. Su , and L. Xie

    IEEE Transactions on Industrial Electronics (TIE), 2023

    Bib HTML

    @article{liu2023multiple,
      title = {Multiple Non-Cooperative Targets Encirclement by Relative Distance Based Positioning and Neural Anti-Synchronization Control},
      author = {Liu, Fen and Yuan, Shenghai and Meng, Wei and Su, Rong and Xie, Lihua},
      journal = {IEEE Transactions on Industrial Electronics (TIE)},
      year = {2023},
    }

14. 

    VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors

    T. H. Nguyen , S. Yuan , and L. Xie

    arXiv preprint arXiv:2303.10903, 2023

    Bib

    @article{nguyen2023vr,
      title = {VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors},
      author = {Nguyen, Thien Hoang and Yuan, Shenghai and Xie, Lihua},
      journal = {arXiv preprint arXiv:2303.10903},
      year = {2023},
    }

15. 

    SLICT: Multi-Input Multi-Scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping

    T.-M. Nguyen , D. Duberg , P. Jensfelt , S. Yuan , and L. Xie

    IEEE Robotics and Automation Letters (RAL), 2023

    Bib HTML

    @article{nguyen2023slict,
      title = {SLICT: Multi-Input Multi-Scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping},
      author = {Nguyen, Thien-Minh and Duberg, Daniel and Jensfelt, Patric and Yuan, Shenghai and Xie, Lihua},
      journal = {IEEE Robotics and Automation Letters (RAL)},
      year = {2023},
      volume = {8},
      number = {4},
      pages = {2102--2109},
    }

16. 

    SPINS: Structure Priors Aided Inertial Navigation System

    Y. Lyu , T.-M. Nguyen , L. Liu , M. Cao , S. Yuan , T. H. Nguyen , and L. Xie

    Journal of Field Robotics (JFR), 2023

    Bib HTML

    @article{lyu2023spins,
      title = {SPINS: Structure Priors Aided Inertial Navigation System},
      author = {Lyu, Yang and Nguyen, Thien-Minh and Liu, Liu and Cao, Muqing and Yuan, Shenghai and Nguyen, Thien Hoang and Xie, Lihua},
      journal = {Journal of Field Robotics (JFR)},
      year = {2023},
      volume = {40},
      number = {4},
      pages = {879--900},
    }

17. Unmanned aerial vehicle and localization method for unmanned aerial vehicle

    L. Xie , P. N. T. M. Nguyen , M. Cao , and S. Yuan

    2023

    US Patent App. 18/040,148

    Bib Video

    @misc{xie2023unmanned,
      title = {Unmanned aerial vehicle and localization method for unmanned aerial vehicle},
      author = {Xie, Lihua and Nguyen, Pham Nhat Thien Minh and Cao, Muqing and Yuan, Shenghai},
      year = {2023},
      note = {US Patent App. 18/040,148},
      publisher = {Google Patents},
    }

2022

1. Overcoming Catastrophic Forgetting for Semantic Segmentation Via Incremental Learning

   Y. Yang , S. Yuan , and L. Xie

   In International Conference on Control, Automation, Robotics and Vision (ICARCV), 2022

   Bib HTML Video

   @inproceedings{yang2022overcoming,
     title = {Overcoming Catastrophic Forgetting for Semantic Segmentation Via Incremental Learning},
     author = {Yang, Yizhuo and Yuan, Shenghai and Xie, Lihua},
     booktitle = {International Conference on Control, Automation, Robotics and Vision (ICARCV)},
     year = {2022},
     pages = {299--304},
   }

2. Robust rgb-d slam in dynamic environments for autonomous vehicles

   T. Ji , S. Yuan , and L. Xie

   In International Conference on Control, Automation, Robotics and Vision (ICARCV), 2022

   Bib HTML Video

   @inproceedings{ji2022robust,
     title = {Robust rgb-d slam in dynamic environments for autonomous vehicles},
     author = {Ji, Tete and Yuan, Shenghai and Xie, Lihua},
     booktitle = {International Conference on Control, Automation, Robotics and Vision (ICARCV)},
     year = {2022},
     pages = {665--671},
   }

3. 

   Gaitfi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning

   L. Deng , J. Yang , S. Yuan , H. Zou , C. X. Lu , and L. Xie

   IEEE Internet of Things Journal (IoT-J), 2023

   Bib HTML

   @article{deng2022gaitfi,
     title = {Gaitfi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning},
     author = {Deng, Lang and Yang, Jianfei and Yuan, Shenghai and Zou, Han and Lu, Chris Xiaoxuan and Xie, Lihua},
     journal = {IEEE Internet of Things Journal (IoT-J)},
     year = {2023},
     volume = {10},
     number = {1},
     pages = {625--636},
   }

4. 

   DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation

   K. Cao , M. Cao , S. Yuan , and L. Xie

   IEEE Robotics and Automation Letters (RAL), 2022

   Bib HTML

   @article{cao2022direct,
     title = {DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation},
     author = {Cao, Kun and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
     journal = {IEEE Robotics and Automation Letters (RAL)},
     year = {2022},
     volume = {7},
     number = {2},
     pages = {2439--2446},
   }

5. Structure Priors Aided Visual-Inertial Navigation in Building Inspection Tasks With Auxiliary Line Features

   Y. Lyu , S. Yuan , and L. Xie

   IEEE Transactions on Aerospace and Electronic Systems (TAES), 2022

   Bib HTML Video

   @article{lyu2022structure,
     title = {Structure Priors Aided Visual-Inertial Navigation in Building Inspection Tasks With Auxiliary Line Features},
     author = {Lyu, Yang and Yuan, Shenghai and Xie, Lihua},
     journal = {IEEE Transactions on Aerospace and Electronic Systems (TAES)},
     year = {2022},
     volume = {58},
     number = {4},
     pages = {3037--3048},
   }

2021

1. 

   Distributed Multi-Robot Sweep Coverage for a Region with Unknown Workload Distribution

   M. Cao , K. Cao , X. Li , S. Yuan , Y. Lyu , T.-M. Nguyen , and L. Xie

   Autonomous Intelligent Systems, 2021

   Bib HTML

   @article{cao2021distributed,
     title = {Distributed Multi-Robot Sweep Coverage for a Region with Unknown Workload Distribution},
     author = {Cao, Muqing and Cao, Kun and Li, Xiuxian and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien-Minh and Xie, Lihua},
     journal = {Autonomous Intelligent Systems},
     year = {2021},
     volume = {1},
     number = {1},
     eid = {13},
   }

2. IJRR

   NTU VIRAL: A Visual-Inertial-Ranging-LiDAR Dataset, from an Aerial Vehicle Viewpoint

   T.-M. Nguyen , S. Yuan , M. Cao , Y. Lyu , T. H. Nguyen , and L. Xie

   The International Journal of Robotics Research (IJRR), 2022

   Bib HTML Demo

   @article{nguyen2022ntu,
     title = {NTU VIRAL: A Visual-Inertial-Ranging-LiDAR Dataset, from an Aerial Vehicle Viewpoint},
     author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Lyu, Yang and Nguyen, Thien H and Xie, Lihua},
     journal = {The International Journal of Robotics Research (IJRR)},
     year = {2022},
     volume = {41},
     number = {3},
     pages = {270--280},
   }

3. 

   Viral-Fusion: A Visual-Inertial-Ranging-LiDAR Sensor Fusion Approach

   T.-M. Nguyen , M. Cao , S. Yuan , Y. Lyu , T. H. Nguyen , and L. Xie

   IEEE Transactions on Robotics (TRO), 2022

   Bib HTML

   @article{nguyen2021viral,
     title = {Viral-Fusion: A Visual-Inertial-Ranging-LiDAR Sensor Fusion Approach},
     author = {Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
     journal = {IEEE Transactions on Robotics (TRO)},
     year = {2022},
     volume = {38},
     number = {2},
     pages = {958--977},
   }

4. 

   Learning to Extract Robust Handcrafted Features with a Single Observation via Evolutionary Neurogenesis

   M. A. Esfahani , H. Wang , B. Bashari , K. Wu , and S. Yuan

   Applied Soft Computing, 2021

   Bib HTML

   @article{esfahani2021learning,
     title = {Learning to Extract Robust Handcrafted Features with a Single Observation via Evolutionary Neurogenesis},
     author = {Esfahani, Mahdi Abolfazli and Wang, Han and Bashari, Benyamin and Wu, Keyu and Yuan, Shenghai},
     journal = {Applied Soft Computing},
     year = {2021},
     volume = {106},
     eid = {107424},
   }

5. LIRO: Tightly coupled lidar-inertia-ranging odometry

   T.-M. Nguyen , M. Cao , S. Yuan , Y. Lyu , T. H. Nguyen , and L. Xie

   In IEEE International Conference on Robotics and Automation (ICRA), 2021

   Bib HTML Video

   @inproceedings{nguyen2021liro,
     title = {LIRO: Tightly coupled lidar-inertia-ranging odometry},
     author = {Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2021},
     pages = {14484--14490},
   }

6. Miliom: Tightly Coupled Multi-Input LiDAR-Inertia Odometry and Mapping

   T.-M. Nguyen , S. Yuan , M. Cao , L. Yang , T. H. Nguyen , and L. Xie

   IEEE Robotics and Automation Letters (RAL), 2021

   Bib HTML Video

   @article{nguyen2021miliom,
     title = {Miliom: Tightly Coupled Multi-Input LiDAR-Inertia Odometry and Mapping},
     author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Yang, Lyu and Nguyen, Thien Hoang and Xie, Lihua},
     journal = {IEEE Robotics and Automation Letters (RAL)},
     year = {2021},
     volume = {6},
     number = {3},
     pages = {5573--5580},
   }

7. Learn to Navigate Autonomously through Deep Reinforcement Learning

   K. Wu , H. Wang , M. A. Esfahani , and S. Yuan

   IEEE Transactions on Industrial Electronics (TIE), 2022

   Bib HTML Video

   @article{wu2021learn,
     title = {Learn to Navigate Autonomously through Deep Reinforcement Learning},
     author = {Wu, Keyu and Wang, Han and Esfahani, Mahdi Abolfazli and Yuan, Shenghai},
     journal = {IEEE Transactions on Industrial Electronics (TIE)},
     year = {2022},
     volume = {69},
     number = {5},
     pages = {5342--5352},
   }

8. 

   Survey on Localization Systems and Algorithms for Unmanned Systems

   S. Yuan , H. Wang , and L. Xie

   Unmanned Systems (US), 2021

   Bib HTML

   @article{yuan2021survey,
     title = {Survey on Localization Systems and Algorithms for Unmanned Systems},
     author = {Yuan, Shenghai and Wang, Han and Xie, Lihua},
     journal = {Unmanned Systems (US)},
     year = {2021},
     volume = {9},
     number = {2},
     pages = {129--163},
   }

9. 

   Vision based autonomous UAV plane estimation and following for building inspection

   Y. Lyu , M. Cao , S. Yuan , and L. Xie

   arXiv preprint arXiv:2102.01423, 2021

   Bib

   @article{lyu2021vision,
     title = {Vision based autonomous UAV plane estimation and following for building inspection},
     author = {Lyu, Yang and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
     journal = {arXiv preprint arXiv:2102.01423},
     year = {2021},
   }