Author

Yaohua Shen

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Open access Oct 2026

LOCDNet: A Lightweight Multi-Target Ship Detection Network for USV Visual Environmental Perception in Dense Occlusion Scenarios

Reliable visual perception of surrounding vessels is essential for situational awareness and safe navigation of unmanned surface vehicles (USVs). In complex nearshore waterways, densely distributed ships, significant scale variations, and mutual occlusions can degrade onboard monocular visual information, resulting in...

Le-Le Yin, Xiao-Fei Yang, Yao-Hua Shen · Journal of Marine Science an... · 0 citations

Open access Sep 2026

A Risk-Aware Safety Framework for UWB-Localized Quadrotors: Geometry-Aware Error Compensation and Belief-Space Collision Avoidance

A risk-aware framework linking geometry-aware error quantification with belief-space collision avoidance under a fixed four-anchor UWB configuration is presented and the feasibility of linking geometry-aware UWB error characterization with belief-space safety constraints for UWB-localized quadrotor navigation is indica...

Yu-Fei Yang, Jun-Jie Cao, Yao-Hua Shen · Machines · 0 citations

Jul 2026

Physics-Aware End-to-End Deep Reinforcement Learning for Quadcopter Control with Actuator Dynamics

A physics-aware, end-to-end deep reinforcement learning (DRL) approach that acts directly on low-level body inputs, total thrust and body torques, and closes the loop through a high-fidelity Simulink environment is investigated.

Yaohua Shen, W. Chan · arXiv.org · 0 citations