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IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion
Hongming Chen, Yiyang Lin, Ziliang Li, Biyu Ye, Yuying Zhang, Ximin Lyu
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2025

COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
Shuai Wang, Xiaoming Tang, Junning Liang, Haowen Zheng, Biyu Ye, Zhaofeng Liu, Fei Gao, Ximin Lyu
IEEE Robotics and Automation Letters
paper  

Threat-Aware UAV Dodging of Human-Thrown Projectiles with an RGB-D Camera
Yuying Zhang, Na Fan, Haowen Zheng, Junning Liang, Zongliang Pan, Qifeng Chen, Ximin Lyu
IEEE Robotics and Automation Letters
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Design and implementation of a high-precision wind-estimation UAV with onboard sensors
Haowen Yu, Na Fan, Xing Liu, Ximin Lyu
Measurement
paper  

Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
Tianyu Wang, Chunxiang Yan, Xuanhong Liao, Tao Zhang, Ping Wang, Cong Wen, Dingchuan Liu, Haowen Yu, Ximin Lyu
2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)
paper  

Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
Cong Wen, Yunfei Li, Kexin Liu, Yixin Qiu, Xuanhong Liao, Tianyu Wang, Dingchuan Liu, Tao Zhang, Ximin Lyu
2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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Design and Control of a Coaxial Dual-rotor Reconfigurable Tailsitter UAV Based on Swashplateless Mechanism
Jinfeng Liang, Haocheng Guo, Ximin Lyu
IEEE Robotics and Automation Letters
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Whole-body integrated motion planning for aerial manipulators
Weiliang Deng, Hongming Chen, Biyu Ye, Haoran Chen, Ziliang Li, Ximin Lyu
IEEE Transactions on Robotics
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AeroThrow: An Autonomous Aerial Throwing System for Precise Payload Delivery
Ziliang Li, Hongming Chen, Yiyang Lin, Biyu Ye, Ximin Lyu
IEEE Robotics and Automation Letters
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Automated UAV-based Wind Turbine Blade Inspection: Blade Stop Angle Estimation and Blade Detail Prioritized Exposure Adjustment
Yichuan Shi, Hao Liu, Haowen Zheng, Haowen Yu, Xianqi Liang, Jie Li, Minmin Ma, Ximin Lyu
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Aerial Grasping via Maximizing Delta-Arm Workspace Utilization
Haoran Chen, Weiliang Deng, Biyu Ye, Yifan Xiong, Zongliang Pan, Ximin Lyu
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Predictor-Based Time Delay Control of a Hex-Jet Autonomous Aerial Vehicle
Junning Liang, Haowen Zheng, Yuying Zhang, Yongzhuo Gao, Wei Dong, Ximin Lyu
IEEE Robotics and Automation Letters
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2024

NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
Hongming Chen, Biyu Ye, Xianqi Liang, Weiliang Deng, Ximin Lyu
2024 IEEE international conference on robotics and automation (ICRA)
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DOB-based Wind Estimation of A UAV Using Its Onboard Sensor
Haowen Yu, Xianqi Liang, Ximin Lyu
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
paper   video  


Diablo: A 6-dof wheeled bipedal robot composed entirely of direct-drive joints
Dingchuan Liu, Fangfang Yang, Xuanhong Liao, Ximin Lyu
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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2018

Perching and resting—A paradigm for UAV maneuvering with modularized landing gears
Kaiyu Hang, Ximin Lyu, Haoran Song, Johannes A Stork, Aaron M Dollar, Danica Kragic, Fu Zhang
Science Robotics
paper  video