Tianyu He

2 papers indexed

arxivcs.RO2026-07-20

Configuration-Induced Passive Self-Rotation for Perception-Enhanced Autonomous Flight

Xurui Liu, Miao Wang, Tianyu He, Linrui Yang, Xiaobin Zhou

Autonomous flight in confined and cluttered environments is fundamentally limited by the restricted field of view (FoV) of onboard sensors. Passive self-rotation expands sensing coverage without additional sensors but introduces a tradeoff between swept-FoV refresh rate and fligh…

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arxivcs.RO2026-07-20

Disturbance-Aware Flight for Aerial Robots in Narrow Space

Lei Qiang, Tianyu He, Chenyang Sun, Xurui Liu, Miao Wang, Xiaobin Zhou

Autonomous flight of aerial robots in narrow space remains challenging due to strong aerodynamic disturbances and limited flying space. Existing approaches mainly address aerodynamic disturbances at the control level, while motion planning typically relies on geometric constraint…

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