About

I am Boyu Zhou, a Ph.D Candidate in the Aerial Robotics Group, Robotics Institute, HKUST. My supervisor is Prof. Shaojie Shen.  Before coming to HKUST I got my Bachelor degree from the School of Mechanical Engineering in Shanghai Jiao Tong University.

I am interested in robust autonomous navigation of aerial and mobile robots. Currently I focus on developing motion planning and dense mapping algorithms enabling robots to navigate safely and agilely in unknown complex environments. I am also interested in planning problems coupled with perception requirements, such as structure inspection and environment exploration.


Contact : bzhouai@connect.ust.hk; uv.boyuzhou@gmail.com;

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Highlights


Paper "Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths" is accepted by ICRA 2019. Video and source code will be available soon.

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I developed a quadrotor trajectory generator for fast autonomous flight. This planner can generate high-quality trajectories within a few milliseconds(even in very complex environments). It can also generate aggressive motion under the premise of dynamic feasibility. The related paper “Robust and Efficient Trajectory Generation for Fast Autonomous Flight” is accepted by IEEE Robotics and Automation Letters (RA-L) and will be presented in IROS 2019. Corresponding video can be found below. Open source code is available. This work was reported by the IEEE Spectrum!


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Led by Fei Gao, we develop a complete and robust system called Teach-Repeat-Replan that is competent for autonomous drone race, infrastructure inspection, aerial transportation, and search-and-rescue task. It can capture users' intention of a flight mission, convert a naive teaching trajectory to a guaranteed smooth and safe trajectory, and generate safe local re-plans to avoid dynamic obstacles on the flight. Open source code is available!


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Publications


Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths, Boyu Zhou, Fei Gao, Jie Pan, Shaojie Shen, 2019 International Conference on Robotics and Automation (ICRA 2019).


Robust and Efficient Trajectory Generation  for Fast Autonomous Flight, Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie Shen, 2019, IEEE Robotics and Automation Letter (RA-L), will be presented at IROS 2019.

FIESTA: A Fast Incremental Euclidean Distance Fields for Online Quadrotor Motion Planning, Luxin Han, Fei Gao, Boyu Zhou, Shaojie Shen2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments, Fei Gao, Luqi Wang, Boyu Zhou, Luxin Han, Jie Pan, Shaojie Shen, IEEE Transactions on Robotics (T-RO), conditionally accepted.

Optimal Trajectory Generation for Quadrotor Teach-and-Repeat, Fei Gao, Luqi Wang, Kaixuan Wang, William Wu, Boyu Zhou, Luxin Han, Shaojie Shen, 2019,  IEEE Robotics and Automation Letter (RA-L), presented at ICRA 2019.

Temporal Scheduling and Optimization for Multi-MAV Planning,William Wu, Fei Gao, Luqi Wang, Boyu Zhou, Shaojie Shen, Proc. of the International Symposium on Robotics Research (ISRR 2019)

Optimal Time Allocation for Quadrotor Trajectory Generation,Fei Gao, William Wu, Jie Pan, Boyu Zhou, Shaojie Shen, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)