CV
Education
Ph.D. in University of Hong Kong (HKU), 2021 - 2025 expected
B.Eng. in Harbin Institute of Technology (HIT), Shenzhen, 2017 - 2021
Internship
- SLAM Algorithm Researcher, DJI innovations
- Designed and implemented a robust, real-time LiDAR-inertial initialization system. The related paper and code are open-sourced to GitHub: https://github.com/hku-mars/LiDAR_IMU_Init and obtains 750 stars.
- Designed and implemented a decentralized, efficient LiDAR-inertial Odometry for aerial swarm systems.
Publications
“Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry”, Fangcheng Zhu, Yunfan Ren, Fanze Kong, Huajie Wu, Siqi Liang, Nan Chen, Wei Xu, Fu Zhang, IEEE International Conference on Robotics and Automation (ICRA), 2023, paper, video
”Robust Real-time LiDAR-inertial Initialization”, Fangcheng Zhu, Yunfan Ren, Fu Zhang., IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, paper, video
”Decentralized Swarm Trajectory Generation for LiDAR-based Aerial Tracking in Cluttered Environments”, Longji Yin, Fangcheng Zhu (Co-first author), Yunfan Ren, Fanze Kong, Fu Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Best Overall and Best Student Paper Finalist, paper, video
”Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors”, Yunfan Ren, Fangcheng Zhu (Co-first author), Wenyi Liu, Zhepei Wang, Yi Lin, Fei Gao, Fu Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, paper, video
”Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors”, Yixi Cai, Fanze Kong, Yunfan Ren, Fangcheng Zhu, Jiarong Lin, Fu Zhang, IEEE Transactions on Robotics (T-RO), 2023, paper, video
”MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs”, Fanze Kong, Xiyuan Liu, Benxu Tang, Jiarong Lin, Yunfan Ren, Yixi Cai, Fangcheng Zhu, Nan Chen, Fu Zhang, IEEE Robotics and Automation Letters (RA-L), paper, video
”Online Whole-body Motion Planning For Quadrotor Using Multi-resolution Search”, Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang, IEEE International Conference on Robotics and Automation (ICRA), 2023, Best Paper Finalist (Navigation), paper, video
”Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres”, Benxu Tang, Yunfan Ren, Fangcheng Zhu, Rui He, Siqi Liang, Fanze Kong, Fu Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, paper, video
”Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV”, Nan Chen, Fanze Kong, Haotian Li, Jiayuan Liu, Ziwei Ye, Wei Xu, Fangcheng Zhu, Ximin Lyu, Fu Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Best Paper Award on Robot Mechanisms and Design, paper, video
”Research on Human Body Recognition and Position Measurement Based on AdaBoost and RGB-D”, Zhuozhu Jian, Fangcheng Zhu, Lingxuan Tang, The 39th Chinese Control Conference, paper
”ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning”, Yunfan Ren, Yixi Cai, Fangcheng Zhu, Siqi Liang, and Fu Zhang, arXiv preprint, paper, [video](
Academic Talks and Services
- Conference Talk: ”Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry,” ICRA 2023, London, UK. Video of Paper
- Conference Talk: ”Robust Real-time LiDAR-inertial Initialization,” IROS 2023, Kyoto, Japan. Video of Paper
- Academic Talk: ”Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry,” School of Artificial Intelli- gence, Sun Yat-sen University, Zhuhai. May 2023. Video of Presentation
- Reviewer of
- IEEE Transactions on Intelligent Vehicles (TIV)
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- IEEE International Conference on Robotics and Automation (ICRA)
Honors and Awards
2023 Best Overall and Best Student Paper Finalist in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2023 Best Paper Award on Robot Mechanisms and Design in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2023 Best Paper Finalist (Navigation) in IEEE International Conference on Robotics and Automation (ICRA)
2021 Outstanding Graduate Honor of Harbin Institute of Technology (Top 10%)
2020 Meritorious Winner of Mathematical Contest in Modeling
2019 Outstanding Student of Harbin Institute of Technology (Top 2%)
2018 Outstanding Student Leader of Harbin Institute of Technology (Top 2%)
2017 First Class Scholarship of Harbin Institute of Technology (Shenzhen) (Top 5%)
Teaching
Teaching Assistant at HKU
MECH3418 (Dynamics and Control)
IDAT7213 (UAV Design, Navigation and Control)
Skills
- Robotic Algorithm: LiDAR(-inertial) SLAM, Sensor Calibration, UAV Navigation, UAV Swarm, ROS, Linux
- Programming: C/C++, Matlab & Simulink, PCL, OpenCV
- Language: Mandarin(Native Speaker), English(CET6：528)