A Multi-Camera Coordinated Localization Approach for Robust State Estimation of Flying Robots.

Wei Dong 0008 Shanghai Jiao Tong University, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, China https://orcid.org/0000-0003-2640-1585 Wei Dong Wei Dong 0001 Alibaba-Zhejiang University Joint Institute of Frontier Technologies, China Zhejiang University, College of Computer Science, China http://www.emnets.org/dongw/ https://ieeexplore.ieee.org/author/37396032500 https://orcid.org/0000-0003-0498-1494 https://www.wikidata.org/entity/Q130828173 Wei Dong 0002 Texas Instruments Inc., Dallas, TX, USA Texas A&M Univ., College Station, TX, USA Wei Dong 0003 Ann Arbor, MI, USA Princeton University, Princeton, NJ https://orcid.org/0000-0003-3067-8720 https://www.wikidata.org/entity/Q56493466 Wei Dong 0004 Harbin Institute of Technology, State Key laboratory of Robotics and System, China https://orcid.org/0000-0002-1211-6444 Wei Dong 0005 Chinese PLA General Hospital, Beijing, China https://orcid.org/0000-0003-4525-1105 Wei Dong 0006 National University of Defense Technology, School of Computer, Changsha, China https://orcid.org/0000-0002-8033-7943 https://www.wikidata.org/entity/Q130833255 Wei Dong 0007 Nanyang Technological University, College of Computing and Data Science, Singapore Hong Kong University of Science and Technology, Hong Kong, SAR, China https://scholar.google.com/citations?user=VrDL3DUAAAAJ https://orcid.org/0000-0002-0394-4125 Wei Dong 0009 Beijing Institute of Technology, Key Laboratory of Dynamics and Control of Flight Vehicle within Ministry of Education, School of Aerospace Engineering, China https://orcid.org/0000-0001-7692-0872 Wei Dong 0010 Xi'an University of Architecture and Technology, China Northwestern Polytechnical University, School of Computer Science, China https://ieeexplore.ieee.org/author/532382348628707 https://orcid.org/0000-0003-0263-3584 Wei Dong 0011 McMaster University, Hamilton, ON, Canada https://orcid.org/0000-0001-6109-5099 Wei Dong 0012 Tsinghua University, Beijing, China https://ieeexplore.ieee.org/author/37530811700 https://orcid.org/0000-0002-1138-6717

Zijia He Sijia Chen Yuan Gao Wei Dong 0008 A Multi-Camera Coordinated Localization Approach for Robust State Estimation of Flying Robots. 2026 June 7110-7117 11 IEEE Robotics Autom. Lett. 6 https://doi.org/10.1109/LRA.2026.3685470 db/journals/ral/ral11.html#HeCGD26 streams/journals/ral

Sijia Chen Wei Dong 0008 A2VISR: An Active and Adaptive Ground-Aerial Localization System Using Visual Inertial and Single-Range Fusion. 2026 May 7340-7349 73 IEEE Trans. Ind. Electron. 5 https://doi.org/10.1109/TIE.2025.3642374 db/journals/tie/tie73.html#ChenD26 streams/journals/tie

Zhaoying Wang Xingxing Zuo 0001 Wei Dong 0008 Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline. 2026 951-970 42 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2026.3658293 db/journals/trob/trob42.html#WangZD26 streams/journals/trob

Sensen Liu Wenkang Hu Zhaoying Wang Wei Dong 0008 Xinjun Sheng Quadrotors' perching on moving inclined surfaces using uncertainty tolerant planner and thrust regulation. 105011 2025 191 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2025.105011 db/journals/ras/ras191.html#LiuHWDS25 streams/journals/ras

Gang Chen 0036 Zhaoying Wang Wei Dong 0008 Javier Alonso-Mora Particle-Based Instance-Aware Semantic Occupancy Mapping in Dynamic Environments. 1155-1171 2025 41 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2025.3526084 db/journals/trob/trob41.html#ChenWDA25 streams/journals/trob

Yuan Gao Wei Dong 0008 A Real-Time Multi-Model Parametric Representation of Point Clouds. 2025 September abs/2509.14773 CoRR https://doi.org/10.48550/arXiv.2509.14773 db/journals/corr/corr2509.html#abs-2509-14773 streams/journals/corr

Sijia Chen Wei Dong 0008 A2VISR: An Active and Adaptive Ground-Aerial Localization System Using Visual Inertial and Single-Range Fusion. 2025 December abs/2512.16367 CoRR https://doi.org/10.48550/arXiv.2512.16367 db/journals/corr/corr2512.html#abs-2512-16367 streams/journals/corr

Yuzhu Li Wei Dong 0008 Flexible Affine Formation Control Based on Dynamic Hierarchical Reorganization. 11290-11297 2024 December 9 IEEE Robotics Autom. Lett. 12 https://doi.org/10.1109/LRA.2024.3490407 db/journals/ral/ral9.html#LiD24 streams/journals/ral

Sensen Liu Zhaoying Wang Xinjun Sheng Wei Dong 0008 Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper. 2552-2563 2024 July 21 IEEE Trans Autom. Sci. Eng. 3 https://doi.org/10.1109/TASE.2023.3263558 db/journals/tase/tase21.html#LiuWSD24 streams/journals/tase

Sijia Chen Yuzhu Li Wei Dong 0008 High-Performance Relative Localization Based on Key-Node Seeking Considering Aerial Drags Using Range and Odometry Measurements. 6021-6031 2024 June 71 IEEE Trans. Ind. Electron. 6 https://doi.org/10.1109/TIE.2023.3292851 db/journals/tie/tie71.html#ChenLD24

Wenkang Hu Zhaoying Wang Peisong Xu Wei Dong 0008 Fast Flight of the Flying Robot With Fuzzy Decision and Multimodal Control Tackling Uncertainties. 9192-9201 2024 August 71 IEEE Trans. Ind. Electron. 8 https://doi.org/10.1109/TIE.2023.3323750 db/journals/tie/tie71.html#HuWXD24

Xian Huang Yuanjiong Ying Wei Dong 0008 CEASE: Collision-Evaluation-Based Active Sense System for Collaborative Robotic Arms. 1-11 2024 73 IEEE Trans. Instrum. Meas. https://doi.org/10.1109/TIM.2024.3478318 db/journals/tim/tim73.html#HuangYD24 streams/journals/tim

Gang Chen 0036 Wei Dong 0008 Peng Peng Javier Alonso-Mora Xiangyang Zhu Continuous Occupancy Mapping in Dynamic Environments Using Particles. 64-84 2024 40 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2023.3323841 db/journals/trob/trob40.html#ChenDPAZ24

Zhaoying Wang Wei Dong 0008 A Collaborative Stereo Camera with Two UAVs for Long-distance Mapping of Urban Buildings. 7944-7951 2024 IROS https://doi.org/10.1109/IROS58592.2024.10801758 conf/iros/2024 db/conf/iros/iros2024.html#Wang024

Zhaoying Wang Wei Dong 0008 Real-Time Estimation of Relative Pose for UAVs Using a Dual-Channel Feature Association. 2024 abs/2402.17504 CoRR https://doi.org/10.48550/arXiv.2402.17504 db/journals/corr/corr2402.html#abs-2402-17504

Xian Huang Yuanjiong Ying Wei Dong 0008 CEASE: Collision-Evaluation-based Active Sense System for Collaborative Robotic Arms. 2024 abs/2403.05761 CoRR https://doi.org/10.48550/arXiv.2403.05761 db/journals/corr/corr2403.html#abs-2403-05761

Yuanjiong Ying Xian Huang Wei Dong 0008 Multi-View Active Sensing for Human-Robot Interaction via Hierarchically Connected Tree. 2024 abs/2403.12538 CoRR https://doi.org/10.48550/arXiv.2403.12538 db/journals/corr/corr2403.html#abs-2403-12538

Kaiwen Xiong Sijia Chen Wei Dong 0008 A Novel Ternary Evolving Estimator for Positioning Unmanned Aerial Vehicle in Harsh Environments. 2024 abs/2409.06501 CoRR https://doi.org/10.48550/arXiv.2409.06501 db/journals/corr/corr2409.html#abs-2409-06501 streams/journals/corr

Gang Chen 0036 Zhaoying Wang Wei Dong 0008 Javier Alonso-Mora Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments. 2024 abs/2409.11975 CoRR https://doi.org/10.48550/arXiv.2409.11975 db/journals/corr/corr2409.html#abs-2409-11975 streams/journals/corr

Gang Chen 0036 Siyuan Wu Moji Shi Wei Dong 0008 Hai Zhu 0002 Javier Alonso-Mora RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments. 808-815 2023 8 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2022.3231832 db/journals/ral/ral8.html#ChenWSDZA23

Yuan Gao Wei Dong 0008 An Integrated Hierarchical Approach for Real-Time Mapping With Gaussian Mixture Model. 6891-6898 2023 November 8 IEEE Robotics Autom. Lett. 11 https://doi.org/10.1109/LRA.2023.3313945 db/journals/ral/ral8.html#GaoD23

Wei Dong 0008 Yuzhu Li Xinjun Sheng Xiangyang Zhu Trajectory Estimation of a Flying Robot With a Single Ranging Beacon and Derived Velocity Constraints. 5024-5033 2023 70 IEEE Trans. Ind. Electron. 5 https://doi.org/10.1109/TIE.2022.3189066 db/journals/tie/tie70.html#DongLSZ23

Gang Chen 0036 Peng Peng Peihan Zhang Wei Dong 0008 Risk-Aware Trajectory Sampling for Quadrotor Obstacle Avoidance in Dynamic Environments. 12606-12615 2023 70 IEEE Trans. Ind. Electron. 12 https://doi.org/10.1109/TIE.2023.3239775 db/journals/tie/tie70.html#0036PZD23

Yehui Zhang Zhaoying Wang Wei Dong 0008 An Aerial Non-contact Detection System For Quayside Crane Using A Hexacopter. 774-779 2023 RCAR https://doi.org/10.1109/RCAR58764.2023.10249376 conf/rcar/2023 db/conf/rcar/rcar2023.html#ZhangWD23

Peihan Zhang Gang Chen 0036 Yuzhu Li Wei Dong 0008 Agile Formation Control of Drone Flocking Enhanced With Active Vision-Based Relative Localization. 6359-6366 2022 7 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2022.3171096 db/journals/ral/ral7.html#ZhangCLD22

Gang Chen 0036 Hongzhe Yu Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Han Ding 0001 What should be the input: Investigating the environment representations in sim-to-real transfer for navigation tasks. 104081 2022 153 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2022.104081 db/journals/ras/ras153.html#ChenYDSZD22

Zhaoying Wang Sensen Liu Gang Chen 0036 Wei Dong 0008 Robust Visual Positioning of the UAV for the Under Bridge Inspection With a Ground Guided Vehicle. 1-10 2022 71 IEEE Trans. Instrum. Meas. https://doi.org/10.1109/TIM.2021.3135544 db/journals/tim/tim71.html#WangLCD22

Peng Peng Wei Dong 0008 Gang Chen 0036 Xiangyang Zhu Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment. 10529-10535 2022 IROS https://doi.org/10.1109/IROS47612.2022.9981858 conf/iros/2022 db/conf/iros/iros2022.html#PengDCZ22

Gang Chen 0036 Peng Peng Peihan Zhang Wei Dong 0008 Risk-aware Trajectory Sampling for Quadrotor Obstacle Avoidance in Dynamic Environments. 2022 abs/2201.06645 CoRR https://arxiv.org/abs/2201.06645 db/journals/corr/corr2201.html#abs-2201-06645

Gang Chen 0036 Wei Dong 0008 Peng Peng Javier Alonso-Mora Xiangyang Zhu Continuous Occupancy Mapping in Dynamic Environments Using Particles. 2022 abs/2202.06273 CoRR https://arxiv.org/abs/2202.06273 db/journals/corr/corr2202.html#abs-2202-06273

Peng Peng Wei Dong 0008 Gang Chen 0036 Xiangyang Zhu Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment. 2022 abs/2202.13381 CoRR https://arxiv.org/abs/2202.13381 db/journals/corr/corr2202.html#abs-2202-13381

Sensen Liu Wei Dong 0008 Zhaoying Wang Xinjun Sheng Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper. 2022 abs/2203.02304 CoRR https://doi.org/10.48550/arXiv.2203.02304 db/journals/corr/corr2203.html#abs-2203-02304

Wei Dong 0008 Zheyuan Mei Yuanjiong Ying Sijia Chen Yichen ie Xiangyang Zhu SRIBO: An Efficient and Resilient Single-Range and Inertia Based Odometry for Flying Robots. 2022 abs/2211.03093 CoRR https://doi.org/10.48550/arXiv.2211.03093 db/journals/corr/corr2211.html#abs-2211-03093

Sensen Liu Wenkang Hu Zhaoying Wang Wei Dong 0008 Xinjun Sheng Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation. 2022 abs/2212.10829 CoRR https://doi.org/10.48550/arXiv.2212.10829 db/journals/corr/corr2212.html#abs-2212-10829

Gang Chen 0036 Dongxiao Sun Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Han Ding 0001 Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor With Active Sensing. 3365-3372 2021 6 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3062332 db/journals/ral/ral6.html#ChenSDSZD21

Gang Chen 0036 Peihan Zhang Zhaoying Wang Wei Dong 0008 TRP-Controller: An Efficient Anti-Saturation Controller for Quadrotors Performing Yaw-low-priority Motions. 310-315 2021 M2VIP https://doi.org/10.1109/M2VIP49856.2021.9665067 conf/m2vip/2021 db/conf/m2vip/m2vip2021.html#ChenZWD21 Haoxuan Shan Gang Chen 0036 Shuyang Shi Zhelong Wang Maoshen Qin Wei Dong 0008 Dragon Rider - An Integrated Unmanned Quadruped-Hexarotor System for Flight-Impeded Area Exploration. 411-416 2021 M2VIP https://doi.org/10.1109/M2VIP49856.2021.9665137 conf/m2vip/2021 db/conf/m2vip/m2vip2021.html#ShanCSQD21 Ziwei Zhou Ziying Lin Yi Ni Wei Dong 0008 Xiangyang Zhu A cooperative positioning approach of Unmanned Aerial Vehicles with Accuracy and Robustness. 399-404 2021 RCAR https://doi.org/10.1109/RCAR52367.2021.9517679 conf/rcar/2021 db/conf/rcar/rcar2021.html#ZhouLNDZ21 Peng Peng Yi Ni Gang Chen 0036 Wei Dong 0008 Efficient Learning-based Trajectory Tacker for Quadrotor at High-speed Flight. 498-502 2021 RCAR https://doi.org/10.1109/RCAR52367.2021.9517601 conf/rcar/2021 db/conf/rcar/rcar2021.html#PengNCD21

Ziying Lin Wei Dong 0008 Sensen Liu Xinjun Sheng Xiangyang Zhu An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor. 2021 abs/2108.02930 CoRR https://arxiv.org/abs/2108.02930 db/journals/corr/corr2108.html#abs-2108-02930

Peihan Zhang Gang Chen 0036 Wei Dong 0008 Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization. 2021 abs/2108.05505 CoRR https://arxiv.org/abs/2108.05505 db/journals/corr/corr2108.html#abs-2108-05505

Sensen Liu Wei Dong 0008 Zhao Ma Xinjun Sheng Adaptive Aerial Grasping and Perching With Dual Elasticity Combined Suction Cup. 4766-4773 2020 5 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2020.3003879 db/journals/ral/ral5.html#LiuDMS20

Wei Dong 0008 Sensen Liu Ye Ding 0001 Xinjun Sheng Xiangyang Zhu An Artificially Weighted Spanning Tree Coverage Algorithm for Decentralized Flying Robots. 1689-1698 2020 17 IEEE Trans Autom. Sci. Eng. 4 https://doi.org/10.1109/TASE.2020.2971324 db/journals/tase/tase17.html#DongLDSZ20

Jiayi Li Wei Dong 0008 Xinjun Sheng Sen Xu Visual Servoing of Micro Aerial Vehicles with the Cooperation of Ground Vehicle. 150-155 2020 PLANS https://doi.org/10.1109/PLANS46316.2020.9109994 conf/plans/2020 db/conf/plans/plans2020.html#LiDSX20 Sensen Liu Wei Dong 0008 Zhao Ma Dongxiao Sun Xinjun Sheng Dual-durometer combination of vacuum cup for aerial grasping. 8-13 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303315 conf/rcar/2020 db/conf/rcar/rcar2020.html#LiuDMSS20

Gang Chen 0036 Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Han Ding 0001 Bio-inspired Obstacle Avoidance for Flying Robots with Active Sensing. 2020 abs/2010.04977 CoRR https://arxiv.org/abs/2010.04977 db/journals/corr/corr2010.html#abs-2010-04977

Wei Dong 0008 Ye Ding 0001 Jie Huang Luo Yang Xiangyang Zhu An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots. 73-82 2019 115 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2019.02.004 https://www.wikidata.org/entity/Q128332787 db/journals/ras/ras115.html#DongDHYZ19

Changyang Gong Gang Chen 0036 Wei Dong 0008 Xinjun Sheng Xiangyang Zhu A Separate Data Structure for Online Multi-hypothesis Topological Mapping. 673-685 2019 ICIRA (4) https://doi.org/10.1007/978-3-030-27538-9_58 conf/icira/2019-4 db/conf/icira/icira2019-4.html#GongCDSZ19 Gang Chen 0036 Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Generating Spatial Semantic Representations for Indoor Global Mapping. 19-23 2019 RCAR https://doi.org/10.1109/RCAR47638.2019.9043998 conf/rcar/2019 db/conf/rcar/rcar2019.html#ChenDSZ19

Gang Chen 0036 Hongzhe Yu Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Han Ding 0001 Learning to Navigate from Simulation via Spatial and Semantic Information Synthesis. 2019 abs/1910.05758 CoRR http://arxiv.org/abs/1910.05758 db/journals/corr/corr1910.html#abs-1910-05758

Hongzhe Yu Weifan Zhang Xinjun Sheng Wei Dong 0008 State Estimation for Swarm UAVs Under Data Dropout Condition. 81-91 2018 ICIRA (1) https://doi.org/10.1007/978-3-319-97586-3_7 conf/icira/2018-1 db/conf/icira/icira2018-1.html#YuZSD18 Gang Chen 0036 Rong Wang Wei Dong 0008 Xinjun Sheng A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions. 551-562 2017 ICIRA (3) https://doi.org/10.1007/978-3-319-65298-6_50 conf/icira/2017-3 db/conf/icira/icira2017-3.html#ChenWDS17 Jong Ho Han Yi Min Feng Fei Peng Wei Dong 0008 Xinjun Sheng Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control. 563-575 2017 ICIRA (3) https://doi.org/10.1007/978-3-319-65298-6_51 conf/icira/2017-3 db/conf/icira/icira2017-3.html#HanFPDS17

Wei Dong 0008 Guo-Ying Gu Xiangyang Zhu Han Ding 0001 A high-performance flight control approach for quadrotors using a modified active disturbance rejection technique. 177-187 2016 83 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2016.05.005 db/journals/ras/ras83.html#DongGZD16

Wei Dong 0008 Jie Chen Jiteng Yang Xinjun Sheng Xiangyang Zhu Towards the Development of Fractional-Order Flight Controllers for the Quadrotor. 63-74 2016 ICIRA (1) https://doi.org/10.1007/978-3-319-43506-0_6 conf/icira/2016-1 db/conf/icira/icira2016-1.html#DongCYSZ16 Jiahao Fang Xin Ye Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Navigation and Control for an Unmanned Aerial Vehicle. 373-383 2016 ICIRA (1) https://doi.org/10.1007/978-3-319-43506-0_33 conf/icira/2016-1 db/conf/icira/icira2016-1.html#FangYDSZ16 Jie Chen Junjie Wu Gang Chen 0036 Wei Dong 0008 Xinjun Sheng Design and Development of a Multi-rotor Unmanned Aerial Vehicle System for Bridge Inspection. 498-510 2016 ICIRA (1) https://doi.org/10.1007/978-3-319-43506-0_44 conf/icira/2016-1 db/conf/icira/icira2016-1.html#ChenWCDS16

Wei Dong 0008 Guoying Gu Xiangyang Zhu Han Ding 0001 Solving the Boundary Value Problem of an Under-Actuated Quadrotor with Subspace Stabilization Approach. 299-311 2015 80 J. Intell. Robotic Syst. 2 https://doi.org/10.1007/s10846-014-0161-3 db/journals/jirs/jirs80.html#DongGZD15

Qiaoyu Zhang Jie Chen Luo Yang Wei Dong 0008 Xinjun Sheng Xiangyang Zhu Structure Optimization and Implementation of a Lightweight Sandwiched Quadcopter. 220-229 2015 ICIRA (3) https://doi.org/10.1007/978-3-319-22873-0_20 conf/icira/2015-3 db/conf/icira/icira2015-3.html#ZhangCYDSZ15 Wei Dong 0008 Guoying Gu Ye Ding 0001 Xiangyang Zhu Han Ding 0001 Ball juggling with an under-actuated flying robot. 68-73 2015 IROS https://doi.org/10.1109/IROS.2015.7353356 conf/iros/2015 db/conf/iros/iros2015.html#DongGDZD15 Javier Alonso-Mora Gang Chen 0036 Jie Chen Sijia Chen Han Ding 0001 Ye Ding 0001 Jiahao Fang Yi Min Feng Yuan Gao Changyang Gong Guo-Ying GuGuoying Gu Jong Ho Han Zijia He Wenkang Hu Jie Huang Xian Huang Yichen ie Jiayi Li Yuzhu Li Ziying Lin Sensen Liu Zhao Ma Zheyuan Mei Yi Ni Fei Peng Peng Peng Zhelong Wang Maoshen Qin Haoxuan Shan Xinjun Sheng Moji Shi Shuyang Shi Dongxiao Sun Rong Wang Zhaoying Wang Junjie Wu Siyuan Wu Kaiwen Xiong Peisong Xu Sen Xu Jiteng Yang Luo Yang Xin Ye Yuanjiong Ying Hongzhe Yu Peihan Zhang Qiaoyu Zhang Weifan Zhang Yehui Zhang Ziwei Zhou Hai Zhu 0002 Xiangyang Zhu Xingxing Zuo 0001