School of Mechanical & Mining Engineering

Dr Thien-Minh Nguyen

Lecturer
School of Mechanical and Mining Engineering

Publications

Journal Articles (26)
Conference Papers (25)

Journal Articles

Ali, Waqas, Cai, Yixi, Jensfelt, Patric and Nguyen, Thien-Minh (2026). ProbPer-LiLo: Probabilistic Persistency Modeling for Life-Long Mapping. IEEE Robotics and Automation Letters, 11 (3), 2530-2537. doi: 10.1109/LRA.2026.3653311
Hu, Tianxin, Xu, Xinhang, Nguyen, Thien-Minh, Liu, Fen, Yuan, Shenghai and Xie, Lihua (2025). Tire wear aware trajectory tracking control for Multi-axle Swerve-drive Autonomous Mobile Robots. Journal of Automation and Intelligence, 4 (4), 243-253. doi: 10.1016/j.jai.2025.05.003
Chen, Siyu, Yuan, Shenghai, Nguyen, Thien-Minh, Huang, Zhuyu, Shi, Chenyang, Jin, Jing and Xie, Lihua (2025). EGS-SLAM: RGB-D Gaussian Splatting SLAM With Events. Ieee Robotics and Automation Letters, 10 (10), 10003-10010. doi: 10.1109/lra.2025.3598665
Liu, Fen, Yuan, Shenghai, Nguyen, Thien-Minh, Meng, Wei and Xie, Lihua (2025). Aerial target encirclement and interception with noisy range. Automatica, 183 112600. doi: 10.1016/j.automatica.2025.112600
Li, Jianping, Nguyen, Thien-Minh, Cao, Muqing, Yuan, Shenghai, Hung, Tzu-Yi and Xie, Lihua (2025). Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment With Progressive Spatial Smoothing. Ieee Transactions On Intelligent Transportation Systems, 26 (11), 19076-19091. doi: 10.1109/tits.2025.3597242
Cao, Muqing, Nguyen, Thien-Minh, Yuan, Shenghai, Anastasiou, Andreas, Zacharia, Angelos, Papaioannou, Savvas, Kolios, Panayiotis, Panayiotou, Christos G., Polycarpou, Marios M., Xu, Xinhang, Zhang, Mingjie, Gao, Fei, Zhou, Boyu, Chen, Ben M. and Xie, Lihua (2025). Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-Uncrewed-Aerial-Vehicle Planning and Lessons Learned. Ieee Robotics & Automation Magazine, 2-13. doi: 10.1109/mra.2025.3584341
Jin, Tongxing, Nguyen, Thien-Minh, Xu, Xinhang, Yang, Yizhuo, Yuan, Shenghai, Li, Jianping and Xie, Lihua (2025). Robust Loop Closure by Textual Cues in Challenging Environments. Ieee Robotics and Automation Letters, 10 (1), 812-819. doi: 10.1109/lra.2024.3511397
Xu, Xinhang, Yang, Yizhuo, Cao, Muqing, Nguyen, Thien-Minh, Cao, Kun and Xie, Lihua (2024). A data-driven control method for ground locomotion on sloped terrain of a hybrid aerial-ground robot. Journal of Automation and Intelligence, 3 (4), 219-229. doi: 10.1016/j.jai.2024.08.001
Yang, Yizhuo, Yuan, Shenghai, Yang, Jianfei, Nguyen, Thien Hoang, Cao, Muqing, Nguyen, Thien-Minh, Wang, Han and Xie, Lihua (2024). AV-FDTI: Audio-visual fusion for drone threat identification. Journal of Automation and Intelligence, 3 (3), 144-151. doi: 10.1016/j.jai.2024.06.002
Nguyen, Thien-Minh, Xu, Xinhang, Jin, Tongxing, Yang, Yizhuo, Li, Jianping, Yuan, Shenghai and Xie, Lihua (2024). Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry With Internal Association. Ieee Robotics and Automation Letters, 9 (6), 5330-5337. doi: 10.1109/lra.2024.3391049
Li, Jianping, Yuan, Shenghai, Cao, Muqing, Nguyen, Thien-Minh, Cao, Kun and Xie, Lihua (2024). HCTO: Optimality-aware LiDAR inertial odometry with hybrid continuous time optimization for compact wearable mapping system. Isprs Journal of Photogrammetry and Remote Sensing, 211, 228-243. doi: 10.1016/j.isprsjprs.2024.04.004
Cao, Muqing, Cao, Kun, Yuan, Shenghai, Nguyen, Thien-Minh and Xie, Lihua (2023). NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles. Ieee Transactions On Robotics, 39 (4), 2786-2804. doi: 10.1109/tro.2023.3264950
Nguyen, Thien-Minh, Duberg, Daniel, Jensfelt, Patric, Yuan, Shenghai and Xie, Lihua (2023). SLICT: Multi-Input Multi-Scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping. Ieee Robotics and Automation Letters, 8 (4), 2102-2109. doi: 10.1109/lra.2023.3246390
Lyu, Yang, Nguyen, Thien-Minh, Liu, Liu, Cao, Muqing, Yuan, Shenghai, Nguyen, Thien Hoang and Xie, Lihua (2023). SPINS: A structure priors aided inertial navigation system. Journal of Field Robotics, 40 (4), 879-900. doi: 10.1002/rob.22161
Nguyen, Thien Hoang, Nguyen, Thien-Minh and Xie, Lihua (2022). Flexible and Resource-Efficient Multi-Robot Collaborative Visual-Inertial-Range Localization. Ieee Robotics and Automation Letters, 7 (2), 928-935. doi: 10.1109/lra.2021.3136286
Cao, Muqing, Cao, Kun, Li, Xiuxian, Yuan, Shenghai, Lyu, Yang, Nguyen, Thien-Minh and Xie, Lihua (2021). Distributed multi-robot sweep coverage for a region with unknown workload distribution. Autonomous Intelligent Systems, 1 (1) 13. doi: 10.1007/s43684-021-00011-1
Nguyen, Thien-Minh, Yuan, Shenghai, Cao, Muqing, Lyu, Yang, Nguyen, Thien H. and Xie, Lihua (2021). NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint. International Journal of Robotics Research, 41 (3), 270-280. doi: 10.1177/02783649211052312
Fang, Xu, Wang, Chen, Thien-Minh Nguyen, and Xie, Lihua (2021). Graph Optimization Approach to Range-Based Localization. Ieee Transactions On Systems Man Cybernetics-Systems, 51 (11), 6830-6841. doi: 10.1109/tsmc.2020.2964713
Nguyen, Thien-Minh, Cao, Muqing, Yuan, Shenghai, Lyu, Yang, Nguyen, Thien Hoang and Xie, Lihua (2021). VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach. Ieee Transactions On Robotics, 38 (2), 958-977. doi: 10.1109/tro.2021.3094157
Nguyen, Thien-Minh, Yuan, Shenghai, Cao, Muqing, Lyu, Yang, Nguyen, Thien Hoang and Xie, Lihua (2021). MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping. Ieee Robotics and Automation Letters, 6 (3), 5573-5580. doi: 10.1109/lra.2021.3080633
Thien Hoang Nguyen,, Thien-Minh Nguyen, and Xie, Lihua (2021). Range-Focused Fusion of Camera-IMU-UWB for Accurate and Drift-Reduced Localization. Ieee Robotics and Automation Letters, 6 (2), 1678-1685. doi: 10.1109/lra.2021.3057838
Nguyen, Thien-Minh, Qiu, Zhirong, Cao, Muqing, Nguyen, Thien Hoang and Xie, Lihua (2020). Single Landmark Distance-Based Navigation. Ieee Transactions On Control Systems Technology, 28 (5), 2021-2028. doi: 10.1109/tcst.2019.2916089
Thien Hoang Nguyen,, Thien-Minh Nguyen, and Xie, Lihua (2020). Tightly-coupled ultra-wideband-aided monocular visual SLAM with degenerate anchor configurations. Autonomous Robots, 44 (8), 1519-1534. doi: 10.1007/s10514-020-09944-7
Thien Hoang Nguyen,, Thien-Minh Nguyen,, Cao, Muqing and Xie, Lihua (2020). Loosely-Coupled Ultra-wideband-Aided Scale Correction for Monocular Visual Odometry. Unmanned Systems, 8 (2), 179-190. doi: 10.1142/s2301385020500119
Nguyen, Thien-Minh, Qiu, Zhirong, Nguyen, Thien Hoang, Cao, Muqing and Xie, Lihua (2020). Persistently Excited Adaptive Relative Localization and Time-Varying Formation of Robot Swarms. Ieee Transactions On Robotics, 36 (2), 553-560. doi: 10.1109/tro.2019.2954677
Thien-Minh Nguyen,, Qiu, Zhirong, Thien Hoang Nguyen,, Cao, Muqing and Xie, Lihua (2019). Distance-Based Cooperative Relative Localization for Leader-Following Control of MAVs. Ieee Robotics and Automation Letters, 4 (4), 3641-3648. doi: 10.1109/lra.2019.2926671

Conference Papers

Liu, Fen, Yuan, Shenghai, Nguyen, Thien-Minh and Su, Rong (2025). Autonomous 3D Moving Target Encirclement and Interception with Range Measurement. IEEE. doi: 10.1109/iros60139.2025.11246819
Nguyen, Tien-Dat, Nguyen, Thien-Minh and Nguyen, Vinh-Hao (2025). Coordinate-Consistent Localization via Continuous-Time Calibration and Fusion of UWB and SLAM Observations. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/isee68370.2025.11223429
Yuan, Shenghai, Lou, Boyang, Nguyen, Thien-Minh, Yin, Pengyu, Cao, Muqing, Xu, Xinghang, Li, Jianping, Xu, Jie, Chen, Siyu and Xie, Lihua (2025). Large-Scale UWB Anchor Calibration and One-Shot Localization Using Gaussian Process. 2025 International Conference on Robotics and Automation-ICRA-Annual, Atlanta Ga, May 19-23, 2025. NEW YORK: IEEE. doi: 10.1109/icra55743.2025.11127688
Thien-Minh Nguyen,, Yang, Yizhuo, Tien-Dat Nguyen,, Yuan, Shenghai and Xie, Lihua (2025). ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges. 2025 International Conference on Robotics and Automation-ICRA-Annual, Atlanta Ga, May 19-23, 2025. NEW YORK: IEEE. doi: 10.1109/icra55743.2025.11128859
Li, Jianping, Leng, Qiutong, Liu, Jinxin, Xu, Xinhang, Jin, Tongxin, Cao, Muqing, Nguyen, Thien-Minh, Yuan, Shenghai, Cao, Kun and Xie, Lihua (2025). HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/icra55743.2025.11128564
Li, Jianping, Nguyen, Thien-Minh, Yuan, Shenghai and Xie, Lihua (2024). PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing. 2024 International Conference on Intelligent Robots and Systems, Abu Dhabi U Arab Emirates, Oct 14-18, 2024. NEW YORK: IEEE. doi: 10.1109/iros58592.2024.10802614
Thien-Minh Nguyen,, Yuan, Shenghai, Thien Hoang Nguyen,, Yin, Pengyu, Cao, Haozhi, Xie, Lihua, Wozniak, Maciej, Jensfelt, Patric, Thie, Marko, Ziegenbein, Justin and Blunder, Noel (2024). MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Seattle Wa, Jun 16-22, 2024. LOS ALAMITOS: IEEE COMPUTER SOC. doi: 10.1109/cvpr52733.2024.02105
Yuan, Shenghai, Yang, Yizhuo, Thien Hoang Nguyen,, Thien-Minh Nguyen,, Yang, Jianfei, Liu, Fen, Li, Jianping, Wang, Han and Xie, Lihua (2024). MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats. IEEE International Conference on Robotics and Automation (ICRA), Yokohama Japan, May 13-17, 2024. NEW YORK: IEEE. doi: 10.1109/icra57147.2024.10610957
Xu, Xinhang, Cao, Muqing, Yuan, Shenghai, Thien Hoang Nguyen,, Thien-Minh Nguyen, and Xie, Lihua (2024). A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System. IEEE 18th International Conference on Control and Automation (ICCA), Reykjavik Iceland, Jun 18-21, 2024. NEW YORK: IEEE. doi: 10.1109/icca62789.2024.10591842
Yu, Wenlu, Xu, Jie, Zhao, Chengwei, Zhao, Lijun, Nguyen, Thien-Minh, Yuan, Shenghai, Bai, Mingming and Xie, Lihua (2024). I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry. 2024 International Conference on Intelligent Robots and Systems, Abu Dhabi U Arab Emirates, Oct 14-18, 2024. NEW YORK: IEEE. doi: 10.1109/iros58592.2024.10801455
Yin, Pengyu, Cao, Haozhi, Thien-Minh Nguyen,, Yuan, Shenghai, Zhang, Shuyang, Liu, Kangcheng and Xie, Lihua (2024). Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning. IEEE International Conference on Robotics and Automation (ICRA), Yokohama Japan, May 13-17, 2024. NEW YORK: IEEE. doi: 10.1109/icra57147.2024.10610206
Ali, Waqas, Jensfelt, Patric and Nguyen, Thien-Minh (2024). HD-maps as Prior Information for Globally Consistent Mapping in GPS-denied Environments. 27th Intelligent Transportation Systems Conference, Edmonton Canada, Sep 24-27, 2024. NEW YORK: IEEE. doi: 10.1109/itsc58415.2024.10920221
Thien-Minh Nguyen,, Cao, Muqing, Yuan, Shenghai, Lyu, Yang, Thien Hoang Nguyen, and Xie, Lihua (2021). LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry. IEEE International Conference on Robotics and Automation (ICRA), Xian Peoples R China, May 30-Jun 05, 2021. NEW YORK: IEEE. doi: 10.1109/icra48506.2021.9560954
Thien Hoang Nguyen,, Thien-Minh Nguyen, and Xie, Lihua (2020). Tightly-Coupled Single-Anchor Ultra-wideband-Aided Monocular Visual Odometry System. IEEE International Conference on Robotics and Automation (ICRA), Electr Network, May 31-Jun 15, 2020. NEW YORK: IEEE. doi: 10.1109/icra40945.2020.9196794
Thien-Minh Nguyen,, Thien Hoang Nguyen,, Cao, Muqing, Qiu, Zhirong and Xie, Lihua (2019). Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments. IEEE International Conference on Robotics and Automation (ICRA), Montreal Canada, May 20-24, 2019. NEW YORK: IEEE. doi: 10.1109/icra.2019.8793851
Nguyen, Thien-Minh, Qiu, Zhirong, Cao, Muqing, Nguyen, Thien Hoang and Xie, Lihua (2018). An Integrated Localization-Navigation Scheme for Distance-Based Docking of UAVs. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/iros.2018.8594251
Nguyen, Thien Hoang, Cao, Muqing, Nguyen, Thien-Minh and Xie, Lihua (2018). Post-Mission Autonomous Return and Precision Landing of UAV. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/icarcv.2018.8581117
Fang, Xu, Wang, Chen, Nguyen, Thien-Minh and Xie, Lihua (2018). Model-free Approach for Sensor Network Localization with Noisy Distance Measurement. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/icarcv.2018.8581124
Wang, Chen, Ji, Tete, Nguyen, Thien-Minh and Xie, Lihua (2018). Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/icra.2018.8460569
Nguyen, Thien-Minh, Zaini, Abdul Hanif, Wang, Chen, Guo, Kexin and Xie, Lihua (2018). Robust Target-Relative Localization with Ultra-Wideband Ranging and Communication. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/icra.2018.8460844
Nguyen, Thien-Minh and Xie, Lihua (2018). Least-square based recursive optimization for distance-based source localization. IEEE Computer Society. doi: 10.1109/icca.2018.8444244
Nguyen, Thien-Minh, Li, Xiuxian and Xie, Lihua (2018). Barrier coverage by heterogeneous sensor network with input saturation. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/ascc.2017.8287433
Wang, Chen, Zhang, Handuo, Nguyen, Thien-Minh and Xie, Lihua (2017). Ultra-wideband aided fast localization and mapping system. Institute of Electrical and Electronics Engineers Inc.. doi: 10.1109/iros.2017.8205968
Nguyen, Thien-Minh, Zaini, Abdul Hanif, Guo, Kexin and Xie, Lihua (2016). An Ultra-Wideband-based Multi-UAV Localization System in GPS-denied environments. International Micro Air Vehicle Competition and Conference 2016, Beijing, 17-21 Oct.
Guo, Kexin, Qiu, Zhirong, Meng, Wei, Nguyen, Thien Minh and Xie, Lihua (2016). Relative localization for quadcopters using ultrawideband sensors. International Micro Air Vehicle Competition and Conference 2016, Beijing, 17-21 Oct.