Author

Chen-Yang Sun

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Open access Sep 2026

TOVEX: Gain-Preserving Branch-Aware Topological Voxel-Sphere Exploration for Unmanned Platforms

Recent autonomous exploration systems for unmanned platforms have improved motion efficiency, trajectory smoothness, and replanning continuity, but thorough coverage remains difficult in confined environments with short branches and partially resolved connectors. We present TOVEX, a completion-oriented framework that c...

Feng-He Guo, Xing-Bao Zhu, Chen-Yang Sun et al. · Drones · 0 citations

Preprint Sep 2026

VIRGA: Virtual-Agent-Intermediated Riemannian Geometry for Active-Sensing Air-Ground Coordination

Air-ground autonomy becomes harder when the unmanned aerial vehicle (UAV) must remain observable by a gimbal light detection and ranging (LiDAR) mounted on the unmanned ground vehicle (UGV). The platforms must avoid dynamic obstacles while coordinating heterogeneous motion, limited sensing, and changing task initiative...

Feng-He Guo, Run-Jie Shen, Chen-Yang Sun et al. · 0 citations

Jul 2026

Disturbance-Aware Flight for Aerial Robots in Narrow Space

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 constraints and fixed speed limits, leading to con...

L. Qiang, Tianyu He, Chenyang Sun et al. · arXiv.org · 0 citations