publications

2023

1. GPF-BG

   GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation

   Shiyu Feng, Ziyi Zhou, Justin S. Smith, and 3 more authors

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

   Bib PDF

   @inproceedings{10160804,
     author = {Feng, Shiyu and Zhou, Ziyi and Smith, Justin S. and Asselmeier, Max and Zhao, Ye and Vela, Patricio A.},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation},
     year = {2023},
     volume = {},
     number = {},
     pages = {1968-1975},
     doi = {10.1109/ICRA48891.2023.10160804},
   }

2. SaferGap

   Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots

   Shiyu Feng, Ahmad Abuaish, and Patricio A. Vela

   2023

   Bib PDF

   @misc{feng2023safer,
     title = {Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots},
     author = {Feng, Shiyu and Abuaish, Ahmad and Vela, Patricio A.},
     year = {2023},
     eprint = {2303.08243},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
   }

2022

1. TrajServo

   Image-Based Trajectory Tracking Through Unknown Environments Without Absolute Positioning

   Shiyu Feng, Zixuan Wu, Yipu Zhao, and 1 more author

   IEEE/ASME Transactions on Mechatronics, 2022

   Bib PDF

   @article{9787773,
     author = {Feng, Shiyu and Wu, Zixuan and Zhao, Yipu and Vela, Patricio A.},
     journal = {IEEE/ASME Transactions on Mechatronics},
     title = {Image-Based Trajectory Tracking Through Unknown Environments Without Absolute Positioning},
     year = {2022},
     volume = {27},
     number = {4},
     pages = {2098-2106},
     doi = {10.1109/TMECH.2022.3175819},
   }

2. DynamicGap

   Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments

   Hongyi Chen, Shiyu Feng, Ye Zhao, and 2 more authors

   In 2022 IEEE 61st Conference on Decision and Control (CDC), 2022

   Bib PDF

   @inproceedings{9992674,
     author = {Chen, Hongyi and Feng, Shiyu and Zhao, Ye and Liu, Changliu and Vela, Patricio A.},
     booktitle = {2022 IEEE 61st Conference on Decision and Control (CDC)},
     title = {Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments},
     year = {2022},
     volume = {},
     number = {},
     pages = {1174-1181},
     doi = {10.1109/CDC51059.2022.9992674},
   }

2021

1. PotentialGap

   Potential Gap: A Gap-Informed Reactive Policy for Safe Hierarchical Navigation

   Ruoyang Xu, Shiyu Feng, and Patricio A. Vela

   IEEE Robotics and Automation Letters, 2021

   Bib PDF

   @article{pgap,
     author = {Xu, Ruoyang and Feng, Shiyu and Vela, Patricio A.},
     journal = {IEEE Robotics and Automation Letters},
     title = {Potential Gap: A Gap-Informed Reactive Policy for Safe Hierarchical Navigation},
     year = {2021},
     volume = {6},
     number = {4},
     pages = {8325-8332},
     doi = {10.1109/LRA.2021.3104623},
   }

2. StixelNav

   Ego-centric Stereo Navigation Using Stixel World

   Shiyu Feng, Fanzhe Lyu, Jin Ha Hwang, and 1 more author

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

   Bib PDF

   @inproceedings{9561385,
     author = {Feng, Shiyu and Lyu, Fanzhe and Ha Hwang, Jin and Vela, Patricio A.},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Ego-centric Stereo Navigation Using Stixel World},
     year = {2021},
     volume = {},
     number = {},
     pages = {13201-13207},
     doi = {10.1109/ICRA48506.2021.9561385},
   }

2020

1. PiPSChapter

   Real-Time Egocentric Navigation Using 3D Sensing

   Justin S. Smith, Shiyu Feng, Fanzhe Lyu, and 1 more author

   2020

   Abs PDF

   This chapter proposes a hierarchical navigation system combining the benefits of perception space local planning and allocentric global planning. Perception space permits computationally efficient 3D collision checking, enabling safe navigation in environments that do not meet the conditions assumed by traditional navigation systems based on planar laser scans. Contributions include approaches for scoring and collision checking trajectories in perception space. Benchmarking results show the advantages of perception space collision checking over popular alternatives in the context of real-time local planning. Simulated experiments with multiple robotic platforms in several environments demonstrate the importance of 3D collision checking and the utility of a mixed representation hierarchical navigation system.

2019

1. SnakeNav

   Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion

   Alexander H. Chang, Shiyu Feng, Yipu Zhao, and 2 more authors

   2019

   Bib

   @misc{chang2019autonomous,
     title = {Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion},
     author = {Chang, Alexander H. and Feng, Shiyu and Zhao, Yipu and Smith, Justin S. and Vela, Patricio A.},
     year = {2019},
     eprint = {1908.07101},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO}
   }