Publications

Journal Papers

• Yuwei Wu, Xiatao Sun, Igor Spasojevic and Vijay Kumar, "Deep Learning for Optimization of Trajectories for Quadrotors," in IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 3, pp. 2479-2486, March 2024 [Paper], [Code]

• Han, Zhichao*, Yuwei Wu*, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li et al. "An efficient spatial-temporal trajectory planner for autonomous vehicles in unstructured environments." in IEEE Transactions on Intelligent Transportation Systems (T-ITS), vol. 25, no. 2, pp. 1797-1814, Feb. 2024 [Paper], [Code]

• Yuwei Wu, Ziming Ding, Chao Xu and Fei Gao, "External Forces Resilient Safe Motion Planning for Quadrotor," in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 8506-8513, Oct. 2021 [Paper], [Code]

• Ankit Prabhu, Xu Liu, Igor Spasojevic, Yuwei Wu, Yifei Shao, Dexter Ong, Jiuzhou Lei, Patrick Corey Green, Pratik Chaudhari, Vijay Kumar, "UAVs for forestry: Metric-semantic mapping and diameter estimation with autonomous aerial robots." Mechanical Systems and Signal Processing 208 (2024): 111050. [Paper]

Conference Papers

• Yuwei Wu, Yuezhan Tao, Igor Spasojevic, and Vijay Kumar. "Trajectory Optimization with Global Yaw Parameterization for Field-of-View Constrained Autonomous Flight." 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Preprint], [Code]

• Jiazhen, Liu* Peihan Li*, Yuwei Wu, Gaurav S. Sukhatme, Vijay Kumar, and Lifeng Zhou. "Multi-Robot Target Tracking with Sensing and Communication Danger Zones." 2024 International Symposium on Distributed Autonomous Robotic Systems [Preprint], [Code]

• Yifei Simon Shao*, Yuwei Wu*, Laura Jarin-Lipschitz*, Pratik Chaudhari, Vijay Kumar, "Design and Evaluation of Motion Planners for Quadrotors," 2024 IEEE International Conference on Robotics and Automation (ICRA), [Preprint], [Code]

• Yuezhan Tao, Yuwei Wu, Beiming Li, Fernando Cladera, Alex Zhou, Dinesh Thakur, Vijay Kumar, "SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain," 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 1235-1241 [Paper], [Code]

Workshops Papers

• Jiazhen Liu, Peihan Li, Yuwei Wu, Vijay Kumar, Lifeng Zhou, Risk-Aware Multi-Robot Target Tracking with Dangerous Zones, 2023 IROS IPPC Workshop [Paper]
• Fernando Cladera*, Yuwei Wu*, Xu Liu, Yuezhan Tao, Ian D Miller, CJ Taylor, Vijay Kumar, Open Source Tools for Deployment of GPS-Denied Autonomous UAVs in Real-World Application, ICRA 2023 Workshop Lab-to-Real Gap [Paper]

Preprints

• Xiatao Sun, Yuwei Wu, Subhrajit Bhattacharya, Vijay Kumar, Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning, 2022 [Preprint], [Code]

• Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, Fei Gao, Generating Large Convex Polytopes Directly on Point Clouds, 2020 [Preprint], [Code]

Experience

Research Assistant

• Implemented a sum-of-squares trajectory optimization for quadrotors based on the application of safe flight corridors directly generated on point clouds.
• Proposed a systematic (re)planning framework that considers estimated external forces on quadrotors. Developed an online nonlinear model predictive control with safe ellipsoid boundaries constrained in a safe flight corridor to enforce reliable obstacle avoidance.
• Research on whole-body safe trajectory generation for autonomous vehicles in the urban traffic environment. The back-end optimization is based on a differential-flat system while encodes dynamic obstacles avoidance with surrounding vehicles.

Teaching Assistant

• MEAM 620 Advanced Robotics (2022, 2023, 2024)
• ESE 542 Statistics for Data Science
• MEAM 520 Introduction to Robotics

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