Journal Publications

2018

X. Lyu, J. Zhou, H. Gu, Z. Li, S. Shen and F. Zhang. Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H-infinity synthesis. IEEE Robotics and Automation Letters. 3(4), pp. 2910-2917, June 2018.

T. Qin, P. Li, and S. Shen. VINS-Mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions on Robotics, 2018. To Appear.

Y. Ling, M. Kuse and S. Shen. Edge alignment-based visual-inertial fusion for tracking of aggressive motions. Autonomous Robots, 42(3), pp. 513-528, March 2018. video

2017

Y. Lin, F. Gao, T. Qin, W. Gao, T. Liu, W. Wu, Z. Yang and S. Shen. Autonomous aerial navigation using monocular visual-inertial fusion. Journal of Field Robotics, 35(1), pp. 23–51, July 2017. video

T. Liu and S. Shen. Spline-based initialization of monocular visual-inertial state estimators at high altitude. IEEE Robotics and Automation Letters, 2(4), pp. 2224-2231, July 2017. video

K. Qiu, T. Liu and S. Shen. Model-based global localization for aerial robots using edge alignment. IEEE Robotics and Automation Letters, 2(3), pp. 1256-1263, January 2017. video

2016

Z. Yang and S. Shen. Monocular visual-inertial state estimation with online initialization and camera-IMU extrinsic calibration. IEEE Transactions on Automation Science and Engineering, 14(1), pp. 39-51, April 2016. video

2013

S. Shen, N. Michael and V. Kumar. Obtaining liftoff indoors: autonomous navigation in confined indoor environments. IEEE Robotics and Automation Magazine, 20(4), pp. 40–48, December 2013.

2012

S. Shen, N. Michael and V. Kumar. Stochastic differential equation-based exploration algorithm for autonomous indoor 3D exploration with a micro-aerial vehicle. International Journal of Robotics Research, 31(12), pp. 1431–1444, November 2012.

N. Michael, S. Shen, K. Mohta, Y. Mulgaonkar, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi and S. Tadokoro. Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Journal of Field Robotics, 29(5), pp. 832–841, August 2012. video

 

Conference Publications

2018

P. Li, T. Qin and S. Shen. Stereo vision-based semantic 3D object and ego-motion tracking for autonomous driving. In Proc. of the European Conference on Computer Vision (ECCV). Munich, Germany. September 2018. To Appear. video

K. Qiu, T. Qin, H. Xie and S. Shen. Estimating metric poses of dynamic objects using monocular visual-inertial fusion. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear. video

T. Qin and S. Shen. Online temporal calibration for monocular visual-inertial systems. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear.

Y. Ling, K. Wang and S. Shen. Probabilistic dense reconstruction from a moving camera. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear. video

F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear. video

K. Wang and S. Shen. Adaptive baseline monocular dense mapping with inter-frame depth propagation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear. video

K. Wang, W. Ding and S. Shen. Quadtree-accelerated real-time monocular dense mapping. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain. October 2018. To Appear. video

L. Wang, D. Cheng, F. Gao, F. Cai, J. Guo, M. Lin and S. Shen. A collaborative aerial-ground robotic system for fast exploration. In Proc. of the 2018 International Symposium on Experimental Robotics (ISER). Buenos Aires, Argentina. November 2018. To Appear. video

S. Li, T. Liu, C. Zhang, D. Yeung and S. Shen. Learning unmanned aerial vehicle control for autonomous target following. In Proc. of the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI). Stockholm, Sweden. July 2018. To Appear.

H. Wang, J. Pi, T. Qin, S. Shen and B. Shi. Slam-based localization of 3D gaze from mobile eye trackers. In Proc. of the ACM Symposium on Eye Tracking Research and Applications (ETRA). Warsaw, Poland. June 2018. To Appear.

J. Zhou, X. Lyu, X. Cai, Z. Li, S. Shen and F. Zhang. Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS). Dallas, TX, USA. June 2018. To Appear. video

H. GU, X. Cai, Z. Li, S. Shen and F. Zhang. A coordinate descent method for multidisciplinary design optimization of electric-powered winged UAVs. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS). Dallas, TX, USA. June 2018. To Appear. video

F. Gao, W. WU, Y. Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, May 2018. To Appear. video

T. Qin, P. Li and S. Shen. Relocalization, global optimization and map merging for monocualr visual-inertial SLAM. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, May 2018. To Appear. video

W. Ding, W. Gao, K. Wang and S. Shen. Trajectory replanning for quadrotors using kinodynamic search and elastic optimization. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, May 2018. To Appear. video

C. Huang, F. Gao, J. Pan, Z. Yang, W. Qiu, P. Chen, X. Yang, S. Shen and K. Cheng. ACT: an autonomous drone cinematography system for action scenes. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA). Brisbane, Australia, May 2018. To Appear. video

2017

C. Shen, Y. Zhang, Z. Li, F. Gao and S. Shen. Collaborative air-ground target searching in complex environments. In Proc. of the IEEE Internaitonal Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 230-237, Shanghai, China, October 2017. video

P. Li, T. Qin, B. Hu, F. Zhu and S. Shen. Monocular visual-inertial state estimation for mobile augmented reality. In Proc. of the IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pages 11-21, Nantes, France, October 2017. video

J. Chen and S. Shen. Using a quadrotor to track a moving target with arbitrary relative motion patterns. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5310-5317, Vancouver, Canada, September 2017. video

F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3681-3688, Vancouver, Canada, September 2017. video

W. Gao and S. Shen. Dual- fisheye omnidirectional stereo. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6715-6722, Vancouver, Canada, September 2017. video

Y. Ling and S. Shen. Building maps for autonomous navigation using sparse visual SLAM features. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1374-1381, Vancouver, Canada, September 2017. video

X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang. A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verfii cation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5135-5141, Vancouver, Canada, September 2017. video

T. Qin and S. Shen. Robust initialization of monocular visual-inertial estimation on aerial robots. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4225-4232, Vancouver, Canada, September 2017. video

K. Qiu and S. Shen. Model-aided monocular visual-inertial state estimation and dense mapping. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1783-1789, Vancouver, Canada, September 2017. video

J. Zhou, X. Lyu, Z. Li, S. Shen and F. Zhang. A unified control method for quadrotor tail-sitter UAVs in all flight modes: hover, transition, and level flight. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4835-4841, Vancouver, Canada, September 2017. video

M. Kuse, S. P. Jaiswal and S. Shen. Deep-mapnets: A residual network for 3D environment representation. In Proc. of the IEEE International Conference on Image Processing (ICIP), pages 2652-2656, Beijing, China, September 2017.

H. Gu, X. Lyu, Z. Li, S. Shen and F. Zhang. Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV). In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 160-169, Miami, USA, June 2017. video

Y. Wang, X. Lyu, H. Gu, S. Shen, Z. Li and F. Zhang. Design, implementation and verification of a quadrotor tail-sitter VTOL UAV. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 462-471, Miami, USA, June 2017.

J. Chen and S. Shen. Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3656-3663, Singapore, May 2017. video

F. Gao and S. Shen. Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 6354-6361, Singapore, May 2017. video

T. Liu and S. Shen. High altitude monocular visual-inertial state estimation: initialization and sensor fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4544-4551, Singapore, May 2017. video

X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen and F. Zhang. Design and implementation of a quadrotor tail-sitter VTOL UAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3924-3930, Singapore, May 2017. video

T. Sun, S. Nie, D. Yeung and S. Shen. Gesture-based piloting of an aerial robot using monocular vision. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 5913-5920, Singapore, May 2017. video

Z. Yang, F. Gao and S. Shen. Real-time monocular dense mapping on aerial robots using visual-inertial fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4552-4559, Singapore, May 2017. video

2016

J. Chen, T. Liu and S. Shen. Tracking a moving target in cluttered environments using a quadrotor. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 446-453, Daejeon, Korea, October 2016. video

F. Gao and S. Shen. Online quadrotor trajectory generation and autonomous navigation on point clouds. In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 139-146, Lausanne, Switzerland, October 2016. video

Y. Ling and S. Shen. High-precision online markerless stereo extrinsic calibration. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1771-1778, Daejeon, Korea, October 2016. video

K. Su and S. Shen. Catching a flying ball with a vision-based quadrotor. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 550-562, Tokyo, Japan, October 2016. video

Z. Yang, T. Liu and S. Shen. Self-calibrating multi-camera visual-inertial fusion for autonomous MAVs. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4984-4991, Daejeon, Korea, October 2016. video

B. Li, S. Zhang and S. Shen. Csi-based wifi-inertial state estimation. In Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages 244-250, Baden-Baden, Germany, September 2016.

J. Chen, T. Liu and S. Shen. Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1476–1483, Stockholm, Sweden, May 2016. video

M. Kuse and S. Shen. Robust camera motion estimation using direct edge alignment and sub-gradient method. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 573–579, Stockholm, Sweden, May 2016.

Y. Ling, T. Liu and S. Shen. Aggressive quadrotor flight using dense visual-inertial fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1499–1506, Stockholm, Sweden, May 2016. video

2015

J. Chen, K. Su and S. Shen. Real-time safe trajectory generation for quadrotor flight in cluttered environments. In Proc. of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 1678–1685, Zhuhai, China, December 2015. video

Y. Ling and S. Shen. Dense visual-inertial odometry for tracking of aggressive motions. In Proc. of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 576–583, Zhuhai, China, December 2015. video

Z. Yang and S. Shen. Monocular visual-inertial fusion with online initialization and camera-IMU calibration. In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 1–8, West Lafayette, IN, October 2015. video

S. Shen, N. Michael and V. Kumar. Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 5303–5310, Seattle, WA, May 2015. video

2014

S. Liu, K. Mohta, S. Shen and V. Kumar. Towards collaborative mapping and exploration using multiple micro aerial robots. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 865-878, Marrakech, Morocco, June 2014.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Initialization-free monocular visual-inertial state estimation with application to autonomous MAVs. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 211-227, Marrakech, Morocco, June 2014.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4974–4981, Hong Kong, China, May 2014. video

2013

T. Ozaslan, S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Inspection of penstocks and featureless tunnel-like environments using micro UAVs. In Proc. of the Field and Service Robotics (FSR), pages 123-136, Brisbane, Australia, December 2013.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Vision-based state estimation and trajectory control towards high-speed flight with a quadrotor. In Proc. of Robotics: Science and Systems (RSS), page 32, Berlin, Germany, June 2013.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Vision-based state estimation for autonomous rotorcraft MAVs in complex environments. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1758–1764, Karlsruhe, Germany, May 2013. video

2012

N. Michael, S. Shen, K. Mohta, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi and S. Tadokoro. Collaborative mapping of an earthquake-damaged building via ground and aerial robots. In Proc. of the Field and Service Robotics (FSR), pages 832-841, Miyagi, Japan, July 2012. video

S. Shen and N. Michael. State estimation for indoor and outdoor operation with a micro-aerial vehicle. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 273-288, Quebec, Canada, June 2012. video

S. Shen, N. Michael and V. Kumar. Autonomous indoor 3D exploration with a micro-aerial vehicle. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 9–15, Saint Paul, MN, May 2012. video

2011

S. Shen, N. Michael and V. Kumar. Autonomous multi-floor indoor navigation with a computationally constrained MAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 20–25, Shanghai, China, May 2011. video