publications

Selected publications by Hao Xu and collaborators.

The list below highlights representative publications most relevant to SOARLAB. For the full and latest publication list, please see Google Scholar.

2026

  1. IROS
    aug.jpg
    AUG: Perception-Aware UAV Graph-Based Planning for GNSS-Denied Navigation in Feature-Sparse Environments
    Enguang Feng, Haohuan Yuan, Hong Zhang, and 4 more authors
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026
    HTML PDF Website

2025

  1. TRO
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    Autonomous Flights Inside Narrow Tunnels
    Luqi Wang, Yan Ning, Hongming Chen, and 5 more authors
    IEEE Transactions on Robotics, 2025
    DOI Cited by 4 arXiv IEEE Xplore Code
  2. RAL
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    SS-VIO: A Novel Cross Modal State Space Visual Inertial Odometry
    Wenyuan Qin, Zhi Lin, Lu Bai, and 3 more authors
    IEEE Robotics and Automation Letters, 2025
    DOI Cited by 0 IEEE Xplore
  3. RAL
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    IMH-MOT: Interactive Multi-Hierarchical Image and Point Cloud Fusion for Multi-Object Tracking
    Wenyuan Qin, Zhiyan Zhou, Jiong Luo, and 4 more authors
    IEEE Robotics and Automation Letters, 2025
    DOI Cited by 0 IEEE Xplore

2024

  1. IROS
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    OmniNxt: A Fully Open-Source and Compact Aerial Robot with Omnidirectional Visual Perception
    Peize Liu, Chen Feng, Yang Xu, and 3 more authors
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
    DOI Cited by 23 arXiv IEEE Xplore Code Website
  2. TRO
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    D2SLAM: 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, 2024
    DOI Cited by 100 arXiv IEEE Xplore Code

2023

  1. TRO
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    RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System
    Boyu Zhou, Hao Xu, and Shaojie Shen
    IEEE Transactions on Robotics, 2023
    TRO Best Paper DOI Cited by 264 arXiv IEEE Xplore Code

2022

  1. TRO
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    Omni-Swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms
    Hao Xu, Yichen Zhang, Boyu Zhou, and 4 more authors
    IEEE Transactions on Robotics, 2022
    DOI Cited by 206 arXiv IEEE Xplore Code
  2. RAL
    narrow-tunnel-ral.jpg
    Neither Fast nor Slow: How to Fly Through Narrow Tunnels
    Luqi Wang, Hao Xu, Yichen Zhang, and 1 more author
    IEEE Robotics and Automation Letters, 2022
    DOI Cited by 20 arXiv IEEE Xplore

2020

  1. ICRA
    icra-uwb.jpg
    Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm
    Hao Xu, Luqi Wang, Yichen Zhang, and 2 more authors
    In IEEE International Conference on Robotics and Automation, 2020
    DOI Cited by 191 arXiv IEEE Xplore