Long Xu

About Me

I am now a Ph.D. student 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, robot learning and mobile manipulator.

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!

My work mainly focuses on motion planning for mobile robots and mobile manipulator, towards more efficient, intelligent, robust, and practical.

Google Scholar: CLICK HERE
Twitter: CLICK HERE

Email: xulon666@gmail.com

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 (T-ITS), 2023 Paper / Video / Code A trajectory planner based on differential flatness for car-like robot.
	Dynamically Feasible Trajectory Generation with Optimization-Embedded Networks for Autonomous Flight Z. Han^, L. Xu^, L. Pei, F. Gao IEEE Robotics and Automation Letters, 2025. 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.
	SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain X. Li^, L. Xu^, X. Huang^, D. Xue, Z. Zhang, Z. Han, C. Xu, Y. Cao, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, 2025 Paper / Video / Code Real-time SE(2)-based local navigation framework for car-like robots on uneven terrain.
	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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 Paper / Web A simple framework for enhancing quadrupedal robot jumping agility.
	Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process S. Tan^, Z. Hou^, Z. Zhang^, L. Xu, M. Zhang, Z. He, C. Xu, F. Gao, Y. Cao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, 2025 Paper / Code A real-time traversability assessment via feature-based sparse Gaussian process.
	Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Vehicles in Unstructured Environments L. Xu, K. Chai, B. An, J. Gan, Q. Wang, Y. Zhou, X. Li, J. Lin, Z. Han, C. Xu, Y. Cao, F. Gao arXiv:2502.19832 Paper / Code A real-time trajectory planner for tractor-trailer vehicles in unstructured environments.
	TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization L. Xu^, C. Wong^, M. Zhang, J. Lin, F. Gao arXiv:2507.02761 Paper / Code A classical trajectory planner for differential drive mobile manipulator.

	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 (T-ITS), 2023 Paper / Video / Code A trajectory planner based on differential flatness for car-like robot.
	Dynamically Feasible Trajectory Generation with Optimization-Embedded Networks for Autonomous Flight Z. Han^, L. Xu^, L. Pei, F. Gao IEEE Robotics and Automation Letters, 2025. 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.
	SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain X. Li^, L. Xu^, X. Huang^, D. Xue, Z. Zhang, Z. Han, C. Xu, Y. Cao, F. Gao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, 2025 Paper / Video / Code Real-time SE(2)-based local navigation framework for car-like robots on uneven terrain.
	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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 Paper / Web A simple framework for enhancing quadrupedal robot jumping agility.
	Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process S. Tan^, Z. Hou^, Z. Zhang^, L. Xu, M. Zhang, Z. He, C. Xu, F. Gao, Y. Cao IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)*, 2025 Paper / Code A real-time traversability assessment via feature-based sparse Gaussian process.
	Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Vehicles in Unstructured Environments L. Xu, K. Chai, B. An, J. Gan, Q. Wang, Y. Zhou, X. Li, J. Lin, Z. Han, C. Xu, Y. Cao, F. Gao arXiv:2502.19832 Paper / Code A real-time trajectory planner for tractor-trailer vehicles in unstructured environments.
	TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization L. Xu^, C. Wong^, M. Zhang, J. Lin, F. Gao arXiv:2507.02761 Paper / Code A classical trajectory planner for differential drive mobile manipulator.

Long Xu | 徐隆

About Me

Honors and Awards

Talks & Presentations

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

Publications