欧阳俊源完成了一项非常完整的无人平台数字孪生仿真系统，应甲方要求不予公开；
任云帆与另外一名nROS-Lab同学刘健恒以共同第一作者发表了一篇机器人领域顶级会议IROS：
- Jianheng Liu, Yunfan Ren, Haoyao Chen, Yunhui Liu, Vision-encoder-based Payload State Estimation for Autonomous MAV With a Suspended Payload, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021), 2021.
- 摘要：Autonomous delivery of suspended payloads with MAVs has many applications in rescue and logistics transportation. Robust and online estimation of the payload status is
important but challenging especially in outdoor environments. The paper develops a novel real-time system for estimating the payload position; the system consists of a monocular
fisheye camera and a novel encoder-based device. A Gaussian fusion-based estimation algorithm is developed to obtain the payload state estimation. Based on the robust payload position estimation, a payload controller is presented to ensure the reliable tracking performance on aggressive trajectories. Several experiments are performed to validate the high performance of the proposed method