Tianci Wen

Currently, i am focusing on world models. I have a strong interest in 3D vision and embodied AI (perception).

Since July 2021, I have been pursuing a five-year Ph.D. program at Nankai University, under the supervision of Professor Yongchun Fang. From 2017 to 2021, I spent an unforgettable time completing my undergraduate studies at Jilin University.

Email  /  CV  /  Google Scholar  /  GitHub

Carefully coupled multi-senors lets the robot localization and mapping robustly in real-world underground mines.

Highly grateful for the kindly support from Xuebo Zhang, Zhixing Song, and Chaoquan Tang.

Discription: We simultaneously integrated a LiDAR, camera, and IMU into a space of approximately 10 cubic centimeters. Various gaits and speeds of the snake robot were tested, all achieving high-precision localization and mapping (with errors within 2 cm compared to motion capture).

Discription: We implemented an indoor navigation framework for the wheeled-leg robot based on the ROS move_base framework and LiDAR-Inertial Odometry (LIO).

Zhixing Song: The guide in SLAM and research

Haiming Gao: The guide in research direction

Early-stage papers:

Tianci Wen, Yongchun Fang*, Biao Lu. Neural network-based adaptive sliding mode control for underactuated dual overhead cranes suffering from matched and unmatched disturbances. Auton. Intell. Syst. 2, 1 (2022).

Tianci Wen, Yongchun Fang*, Biao Lu. Adaptive antiswing control for underactuated dual overhead crane system using neural network. Acta Automatica Sinica, 2023, 49(1): 111−121

Since the end of 2023, I have been involved with Yihan Chen and Shiwei Ren in the Xuzhou Engineering Machinery Industry 'Key Technology Research' project titled 'Development of an L3 Intelligent Crane Operation Control System.' We are currently working on the software and hardware development, as well as the implementation, of a SLAM system for a giant industrial crane.