Publications

Effector-Centric NMPC of Tiltable Multirotors for Offset-Free Omnidirectional Aerial Manipulation
Jinjie Li, Yicheng Chen, Johannes Kübel, Haokun Liu, Moju Zhao (2026). Effector-Centric NMPC of Tiltable Multirotors for Offset-Free Omnidirectional Aerial Manipulation. IEEE T-RO.

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CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen, Wentao Zhang, Masaki Kitagawa, Zicen Xiong, Jinjie Li, Moju Zhao (2026). CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation. CoRL 2026.

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CoFL: Continuous Flow Fields for Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen, Masaki Kitagawa, Wentao Zhang, Zicen Xiong, Jinjie Li, Moju Zhao (2026). CoFL: Continuous Flow Fields for Language-Conditioned Navigation. IEEE Transactions on Robot Learning (under review).

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Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments
Yicheng Chen, Jinjie Li, Haokun Liu, Zicheng Luo, Kotaro Kaneko, Moju Zhao (2026). Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments. IEEE T-ASE.

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Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li, Huayi Wang, Haokun Liu, Junichiro Sugihara, Chen Chen, Yicheng Chen, Moju Zhao (2026). Learning Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors. IEEE RA-L.

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Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism
Yita Wang, Chen Chen, Yicheng Chen, Jinjie Li, Yuichi Motegi, Kenji Ohkuma, Toshihiro Maki, Moju Zhao (2026). Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism. ICRA 2026.

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Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System
Haokun Liu, Zhaoqi Ma, Yunong Li, Junichiro Sugihara, Yicheng Chen, Jinjie Li, Moju Zhao (2025). Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System. Advanced Intelligent Systems.

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Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments
Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li (2025). Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments. IROS 2025.

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Adaptively Dynamic RRT*-Connect: Path Planning for UAVs Against Dynamic Obstacles
Yicheng Chen, Lingling Wang (2022). Adaptively Dynamic RRT*-Connect: Path Planning for UAVs Against Dynamic Obstacles. CACRE 2022.

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Multi-UAV Mobile Edge Computing and Path Planning Platform Based on Reinforcement Learning
Huan Chang, Yicheng Chen, Baochang Zhang, David Doermann (2021). Multi-UAV Mobile Edge Computing and Path Planning Platform Based on Reinforcement Learning. IEEE Transactions on Emerging Topics in Computational Intelligence.

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