Authors

Zipeng Dai

Publications 2

Preprint Open access

OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

Yifan He, Yang Liu, Wenhao Zhao et al. · 2026

Agile quadrotor avoidance of fast-moving obstacles requires anticipating collisions and selecting feasible maneuvers within short reaction windows. Reliable predictive avoidance remains challenging because sparse range observations do not directly reveal obstacle motion, while online trajectory optimizers either scale …

Preprint Open access

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

Yang Liu, Yifan He, Wenhao Zhao et al. · 2026

Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to accumulated drift. Whil …

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