Publications
All journal articles are Q1 and all first-authored without other student co-authors. Full list also available on ORCID and Google Scholar.
Under Review
[1] B. Nguyen et al., “Spatio-Temporal Trajectory Planning on Raw Sensor Observations for Quadrotor in Dynamic Environments,” under review.
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Conference Papers
[2] B. Nguyen, M. Murshed, T. Choudhury, K. Keogh, G. K. Appuhamillage, and L. Nguyen, “Online State-to-State Time-Optimal Trajectory Planning for Quadrotors in Unknown Cluttered Environments,” Proc. 2024 Int. Conf. Unmanned Aircraft Systems (ICUAS), pp. 309–316, 2024.
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Introduced the first state-to-state time-optimal trajectory planner for real-time quadrotor navigation in cluttered environments without prior maps.
Journal Articles
[3] B. Nguyen, M. Murshed, T. Choudhury, K. Keogh, G. K. Appuhamillage, and L. Nguyen, “Non-Conservative Efficient Collision Checking and Depth Noise-Awareness for Trajectory Planning,” IEEE Robotics and Automation Letters, vol. 10, no. 8, pp. 7859–7866, Aug. 2025. (Ranked #1 in Robotics by Google Scholar Metrics; invited to present at ICRA 2026, ranked #2).
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Represented a paradigm shift in trajectory planning that fundamentally reimagines how robots utilize free space for navigation and handle sensor uncertainty, being the first and only non-conservative trajectory collision checker which maximizes utilization of every tiny bit of available free space without sacrificing real-time performance. The first memoryless (sensor-based) local planner to incorporate depth noise into trajectory planning, achieving superior success rates over state-of-the-art methods under sensor uncertainty.
[4] B. Nguyen, L. Nguyen, T. Choudhury, K. Keogh, and M. Murshed, “Depth-based Sampling and Steering Constraints for Memoryless Local Planners,” Journal of Intelligent & Robotic Systems, vol. 109, no. 11, p. 46, 2023. (Ranked #18 in Robotics by Google Scholar Metrics).
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Novel depth-based efficient sampling technique significantly improving memoryless (sensor-based) planning success over the state-of-the-art in cluttered environments.
[5] B. Nguyen, M. Murshed, T. Choudhury, K. Keogh, G. K. Appuhamillage, and L. Nguyen, “A Depth-Based Hybrid Approach for Safe Flight Corridor Generation in Memoryless Planning,” Sensors, vol. 23, no. 16, p. 7206, 2023.
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