Publications

* indicated co-primary authors, † indicated corresponding author.

2026

Key Technologies for Low-altitude Intelligent Perception with Bio-inspired Dynamic Vision

Haoyang Wang

Tsinghua University, 2026

Flight Dynamics to Sensing Modalities: Exploiting Drone Ground Effect for Accurate Edge Detection

Chenyu Zhao^*, Ciyu Ruan^*, Jingao Xu, Haoyang Wang^†, Shengbo Wang, Jiaqi Li, Jirong Zha, Weijie Hong^†, Zheng Yang, Yunhao Liu, Xiao-Ping Zhang, Xinlei Chen

IEEE Transactions on Mobile Computing, 2026

Paper

x^2-Fusion: Cross-Modality and Cross-Dimension Flow Estimation in Event Edge Space

Ruishan Guo^*, Ciyu Ruan^*, Haoyang Wang^*, Zihang Gong, Jingao Xu, Xinlei Chen^†

IEEE/CVF CVPR Highlight, 2026

Paper

EV-Pose: Event-Camera-Enhanced High-Frequency Visual Positioning Service for Accurate Drone Landing

Haoyang Wang, Xinyu Luo, Wenhua Ding, Jingao Xu, Xuecheng Chen, Ruiyang Duan, Jialong Chen, Chao Wang, Haitao Zhang, Yunhao Liu, Xinlei Chen^†

IEEE Transactions on Mobile Computing, 2026

Website

mmE-Loc: Facilitating Accurate Drone Landing with Ultra-High-Frequency Localization

Haoyang Wang, Jingao Xu, Xinyu Luo, Ting Zhang, Xuecheng Chen, Ruiyang Duan, Jialong Chen, Yunhao Liu, Jianfeng Zheng, Weijie Hong, Xinlei Chen^†

IEEE Transactions on Mobile Computing, 2026

Paper Website

Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Application

Haoyang Wang, Ruishan Guo, Pengtao Ma, Ciyu Ruan, Xinyu Luo, Wenhua Ding, Tianyang Zhong, Jingao Xu, Yunhao Liu, Xinlei Chen^†

ACM Computing Survey, 2026

Paper Website

Count Every Rotation and Every Rotation Counts: Exploring Drone Dynamics via Propeller Sensing

Xuecheng Chen^*, Jingao Xu^*, Wenhua Ding, Haoyang Wang, Xinyu Luo, Ruiyang Duan, Jialong Chen, Xueqian Wang, Yunhao Liu, Xinlei Chen^†

ACM SenSys, 2026

Paper Website

2025

Ultra-High-Frequency Harmony: mmWave Radar and Event Camera Orchestrate Accurate Drone Landing

Haoyang Wang, Jingao Xu, Xinyu Luo, Xuecheng Chen, Ting Zhang, Ruiyang Duan, Yunhao Liu, Xinlei Chen^†

ACM SenSys, 2025

Paper Website

Aerial Shepherds: Enabling Hierarchical Localization in Heterogeneous MAV Swarms

Haoyang Wang, Jingao Xu, Chenyu Zhao, Yuhan Cheng, Xuecheng Chen, Chaopeng Hong, Xiao-Ping Zhang, Yunhao Liu, Xinlei Chen^†

IEEE Transactions on Mobile Computing, 2025

Paper

CatUA: Catalyzing Urban Air Quality Intelligence through Mobile Crowd-sensing

Nan Zhou^*, Yuxuan Liu^*, Haoyang Wang^*, Fanhang Man, Jingao Xu, Fan Dang, Chaopeng Hong, Yunhao Liu, Xiao-Ping Zhang, Yali Song, Qiuhua Wang, Xinlei Chen^†

IEEE Transactions on Mobile Computing, 2025

Paper

SniffySquad: Patchiness-Aware Gas Source Localization with Multi-Robot Collaboration

Yuhan Cheng, Xuecheng Chen, Yixuan Yang, Haoyang Wang, Jingao Xu, Chaopeng Hong, Xiao-Ping Zhang, Yunhao Liu, Xinlei Chen^†

ACM Transactions on Sensor Networks, 2025

Paper

2024

Soscheduler: Toward proactive and adaptive wildfire suppression via multi-uav collaborative scheduling

Xuecheng Chen, Zijian Xiao, Yuhan Cheng, Chen-Chun Hsia, Haoyang Wang, Jingao Xu, Susu Xu, Fan Dang, Xiao-Ping Zhang, Yunhao Liu, others

IEEE Internet of Things Journal, 2024

Paper

TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous Swarms

Haoyang Wang, Jingao Xu, Chenyu Zhao, Zihong Lu, Yuhan Cheng, Xuecheng Chen, Xiao-Ping Zhang, Yunhao Liu, Xinlei Chen^†

IEEE INFOCOM, 2024

Paper

MobiAir: Unleashing Sensor Mobility for City-scale and Fine-grained Air-Quality Monitoring with AirBERT

Yuxuan Liu^*, Haoyang Wang^*, Fanhang Man, Jingao Xu, Fan Dang, Yunhao Liu, Xiao-Ping Zhang, Xinlei Chen^†

ACM MobiSys, 2024

Paper

DDL: Empowering Delivery Drones with Large-scale Urban Sensing Capability

Xuecheng Chen^*, Haoyang Wang^*, Yuhan Cheng, Haohao Fu, Yuxuan Liu, Fan Dang, Yunhao Liu, Xinlei Chen^†

IEEE Journal of Selected Topics in Signal Processing, 2024

Paper

EventTracker: 3D Localization and Tracking of High-Speed Object with Event and Depth Fusion

Xinyu Luo, Haoyang Wang, Ciyu Ruan, Chenxin Liang, Jingao Xu, Xinlei Chen^†

ACM MobiCom Picasso Workshop, 2024

Paper

Foes or Friends: Embracing Ground Effect for Edge Detection on Lightweight Drones

Chenyu Zhao^*, Ciyu Ruan^*, Jingao Xu, Haoyang Wang, Shengbo Wang, Jiaqi Li, Jirong Zha, Zheng Yang, Yunhao Liu, Xiao-Ping Zhang, Xinlei Chen^†

ACM MobiCom, 2024

Paper

2023

Califormer: Leveraging unlabeled measurements to calibrate sensors with self-supervised learning

Haoyang Wang^*, Yuxuan Liu^*, Chenyu Zhao, Jiayou He, Wenbo Ding, Xinlei Chen^†

ACM UbiComp CPD, 2023

Paper

SmoothLander: A Quadrotor Landing Control System with Smooth Trajectory Guarantee Based on Reinforcement Learning

Chenyu Zhao^*, Haoyang Wang^*, Jiaqi Li, Fanhang Man, Shilong Mu, Wenbo Ding, Xiao-Ping Zhang, Xinlei Chen^†

ACM UbiComp CPD, 2023

Paper

2022

DeliverSense: Efficient delivery drone scheduling for crowdsensing with deep reinforcement learning

Xuecheng Chen, Haoyang Wang, Zuxin Li, Wenbo Ding, Fan Dang, Chengye Wu, Xinlei Chen^†

ACM UbiComp CPD, 2022

Paper

H-SwarmLoc: efficient scheduling for localization of heterogeneous MAV swarm with deep reinforcement learning

Haoyang Wang^*, Xuecheng Chen^*, Yuhan Cheng, Chenye Wu, Fan Dang, Xinlei Chen^†

ACM SenSys CML-IoT, 2022

Paper

2021

A lightweight verifiable trust based data collection approach for sensor--cloud systems

Jiawei Guo, Haoyang Wang, Wei Liu, Guosheng Huang, Jinsong Gui, Shaobo Zhang

Journal of Systems Architecture, 2021

Paper