Carnegie Mellon University Mechanical Engineering

shimada@cmu.edu

Xiaoyang Zhan

PhD student

Xiaoyang Zhan

Department
Mechanical Engineering
Program
Ph.D.
Graduation
May 2028
  • Autonomous Exploration
  • Heterogeneous robot
  • Semantic Mapping
Google ScholarLinkedIn

Projects

Multi-Robot Coordination System

Publications

7 papers with CERLAB.

  1. Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments

    Xiaoyang Zhan, Shiyu Chen, Kenji Shimada

    arXiv preprint · 2026

  2. Semantic Exploration and Dense Mapping of Complex Environments Using Ground Robot With Panoramic LiDAR-Camera Fusion

    Xiaoyang Zhan, Shixin Zhou, Qianqian Yang, Yixuan Zhao, Hao Liu, Srinivas Chowdary Ramineni, Kenji Shimada

    IEEE Robotics and Automation Letters · 2025

  3. Heuristic-based Incremental Probabilistic Roadmap for Efficient UAV Exploration in Dynamic Environments

    Zhefan Xu, Christopher Suzuki, Xiaoyang Zhan, Kenji Shimada

    IEEE International Conference on Robotics and Automation (ICRA) · 2024

  4. Onboard Dynamic-Object Detection and Tracking for Autonomous Robot Navigation With RGB-D Camera

    Zhefan Xu, Xiaoyang Zhan, Yumeng Xiu, Christopher Suzuki, Kenji Shimada

    IEEE Robotics and Automation Letters · 2024

  5. A real-time dynamic obstacle tracking and mapping system for UAV navigation and collision avoidance with an RGB-D camera

    Zhefan Xu, Xiaoyang Zhan, Baihan Chen, Yumeng Xiu, Chenhao Yang, Kenji Shimada

    IEEE International Conference on Robotics and Automation (ICRA) · 2023

  6. A Vision-Based Autonomous UAV Inspection Framework for Unknown Tunnel Construction Sites With Dynamic Obstacles

    Zhefan Xu, Baihan Chen, Xiaoyang Zhan, Yumeng Xiu, Christopher Suzuki, Kenji Shimada

    IEEE Robotics and Automation Letters · 2023

  7. Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization

    Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan, Baihan Chen, Kenji Shimada

    IEEE International Conference on Robotics and Automation (ICRA) · 2023