Long Xu

About Me

I am now a Ph.D. candidate in Electronic Information, Zhejiang University, working with Prof. Fei Gao. I obtained my B.Eng. of Automation at Zhejiang University in 2022.

My research interests include motion planning and robot learning.

I am always happy to chat or collaborate with people with different backgrounds. If you are interested in my work, please feel free to reach out!

Google Scholar: CLICK HERE
Twitter: CLICK HERE

Email: xulon666@gmail.com

Research Highlights

My work mainly focuses on motion planning for ground robots and multi-link robots, towards more efficient computation, more difficult environments, and more complex dynamics. How to ensure safety while allowing the robot to be maneuverable? How to teach the robot its own dynamics? How to make the robot perceive differences of the environment to navigate more intelligently and efficiently? ... All these are the directions I'm working on.

COMING SOON...

Honors and Awards

1st prize at RoboMaster 2022 University AI Challenge, 2022
Zhejiang Government Scholarship (top 3%), 2020
First Academic Scholarship (top 3%), 2019

Talks & Presentations

An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, Oct. 2023

Publications

^*Equal Contribution

	Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment J. Wang^, L. Xu^, H. Fu, Z. Meng, C. Xu, Y. Cao, X. Lyu, F. Gao IEEE International Conference on Robotics and Automation (ICRA), 2023 Paper / Video / Code A trajectory planner for ground robots beyond 2D environment.
	An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain L. Xu, K. Chai, Z. Han, H. Liu, C. Xu, Y. Cao, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Paper / Video / Code A trajectory planner for car-like robots on uneven terrain.
	Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments C. Ma, Z. Han, T. Zhang, J. Wang, L. Xu, C. Li, C. Xu, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Paper / Video / Code A trajectory planner for car-like robots swarm.
	An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments Z. Han^, Y. Wu^, T. Li, L. Zhang, L. Pei, L. Xu, C. Li, C. Ma, C. Xu, S. Shen, F. Gao IEEE Transactions on Intelligent Transportation Systems, 2023 Paper / Video / Code A trajectory planner based on differential flatness for car-like robot.
	Learning to Plan Maneuverable and Agile Flight Trajectory with Optimization Embedded Networks Z. Han^, L. Xu^, F. Gao arXiv:2405.07736 Paper / Video / Code / Web Differentiable optimization layer can contribute to end-to-end UAV trajectory generation.
	LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric K. Chai^, L. Xu^, Q. Wang, C. Xu, P. Yin, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 Paper / Video / Code Robots with limited FOV can avoid some localization-unfriendly space when navigation.
	SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement Z. Wang, Y. Li, L. Xu, H. Shi, Z. Ma, Z. Chu, C. Li, F. Gao, K. Yang, K. Wang arXiv:2408.00486 Paper / Web A simple framework for enhancing quadrupedal robot jumping agility.

	Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment J. Wang^, L. Xu^, H. Fu, Z. Meng, C. Xu, Y. Cao, X. Lyu, F. Gao IEEE International Conference on Robotics and Automation (ICRA), 2023 Paper / Video / Code A trajectory planner for ground robots beyond 2D environment.
	An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain L. Xu, K. Chai, Z. Han, H. Liu, C. Xu, Y. Cao, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Paper / Video / Code A trajectory planner for car-like robots on uneven terrain.
	Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments C. Ma, Z. Han, T. Zhang, J. Wang, L. Xu, C. Li, C. Xu, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Paper / Video / Code A trajectory planner for car-like robots swarm.
	An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments Z. Han^, Y. Wu^, T. Li, L. Zhang, L. Pei, L. Xu, C. Li, C. Ma, C. Xu, S. Shen, F. Gao IEEE Transactions on Intelligent Transportation Systems, 2023 Paper / Video / Code A trajectory planner based on differential flatness for car-like robot.
	Learning to Plan Maneuverable and Agile Flight Trajectory with Optimization Embedded Networks Z. Han^, L. Xu^, F. Gao arXiv:2405.07736 Paper / Video / Code / Web Differentiable optimization layer can contribute to end-to-end UAV trajectory generation.
	LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric K. Chai^, L. Xu^, Q. Wang, C. Xu, P. Yin, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 Paper / Video / Code Robots with limited FOV can avoid some localization-unfriendly space when navigation.
	SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement Z. Wang, Y. Li, L. Xu, H. Shi, Z. Ma, Z. Chu, C. Li, F. Gao, K. Yang, K. Wang arXiv:2408.00486 Paper / Web A simple framework for enhancing quadrupedal robot jumping agility.

Long Xu | 徐隆