publications

2026

1. 

   RAVEN: A Unified Active SLAM System for Rapid Autonomous Visual Exploration with Aerial Robots under Localization Uncertainty

   Xinyi Chen, Yichen Zhang, Chenxing Jiang, and 1 more author

   Conditional acceptance

   IEEE Transactions on Robotics (T-RO), 2026

2025

1. 

   Active Contact Engagement for Aerial Navigation in Unknown Environments with Glass

   Xinyi Chen^*, Yichen Zhang^*, Hetai Zou^*, and 2 more authors

   * Equal contribution

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

   arXiv Bib Video

   @article{chen2025active,
     title = {Active Contact Engagement for Aerial Navigation in Unknown Environments with Glass},
     author = {Chen, Xinyi and Zhang, Yichen and Zou, Hetai and Wang, Junzhe and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters (RA-L)},
     year = {2025},
     publisher = {IEEE},
   }

2024

1. 

   Falcon: Fast autonomous aerial exploration using coverage path guidance

   Yichen Zhang^*, Xinyi Chen^*, Chen Feng, and 2 more authors

   * Co-first authors

   IEEE Transactions on Robotics (T-RO), 2024

   arXiv Bib Video Code

   @article{zhang2024falcon,
     title = {Falcon: Fast autonomous aerial exploration using coverage path guidance},
     author = {Zhang, Yichen and Chen, Xinyi and Feng, Chen and Zhou, Boyu and Shen, Shaojie},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2024},
     publisher = {IEEE},
   }

2. 

   APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor Flights

   Xinyi Chen, Yichen Zhang, Boyu Zhou, and 1 more author

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

   arXiv Bib Video Code

   @inproceedings{chen2024apace,
     title = {APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor Flights},
     author = {Chen, Xinyi and Zhang, Yichen and Zhou, Boyu and Shen, Shaojie},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {17858-17864},
     year = {2024},
     organization = {IEEE},
   }

3. 

   Fc-planner: A skeleton-guided planning framework for fast aerial coverage of complex 3d scenes

   Chen Feng, Haojia Li, Mingjie Zhang, and 3 more authors

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

   arXiv Bib Video Code

   @inproceedings{feng2024fc,
     title = {Fc-planner: A skeleton-guided planning framework for fast aerial coverage of complex 3d scenes},
     author = {Feng, Chen and Li, Haojia and Zhang, Mingjie and Chen, Xinyi and Zhou, Boyu and Shen, Shaojie},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {8686--8692},
     year = {2024},
     organization = {IEEE},
   }

4. 

   D^{2} SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm

   Hao Xu, Peize Liu, Xinyi Chen, and 1 more author

   IEEE Transactions on Robotics (T-RO), 2024

   arXiv Bib Video Code

   @article{xu2024d,
     title = {$ D^{}$\{$2$\}$ $ SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm},
     author = {Xu, Hao and Liu, Peize and Chen, Xinyi and Shen, Shaojie},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2024},
     publisher = {IEEE},
   }

2022

1. 

   Fast 3D sparse topological skeleton graph generation for mobile robot global planning

   Xinyi Chen, Boyu Zhou, Jiarong Lin, and 3 more authors

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   arXiv Bib Video Code

   @inproceedings{chen2022fast,
     title = {Fast 3D sparse topological skeleton graph generation for mobile robot global planning},
     author = {Chen, Xinyi and Zhou, Boyu and Lin, Jiarong and Zhang, Yichen and Zhang, Fu and Shen, Shaojie},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {10283--10289},
     year = {2022},
     organization = {IEEE},
   }

2021

1. 

   Fuel: Fast uav exploration using incremental frontier structure and hierarchical planning

   Boyu Zhou, Yichen Zhang, Xinyi Chen, and 1 more author

   IEEE Robotics and Automation Letters, 2021

   arXiv Bib Video Code

   @article{zhou2021fuel,
     title = {Fuel: Fast uav exploration using incremental frontier structure and hierarchical planning},
     author = {Zhou, Boyu and Zhang, Yichen and Chen, Xinyi and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters},
     volume = {6},
     number = {2},
     pages = {779--786},
     year = {2021},
     publisher = {IEEE},
   }