Yuwei Wu

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I'm Yuwei, a Ph.D. student at UPenn ESE, supervised by Prof. Vijay Kumar. I'm working on (multi-agent) motion planning and applications for aerial robots. Before that, I worked as a research assistant with Prof. Fei Gao on motion planning.

My research interests are:

(Multi-agent) Task and motion planning

(Learning-enabled) Trajectory generation and optimization

Aerial robot applications (exploration, tracking, navigation)

If you are interested in my research or would like to join some projects, feel free to contact me.

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], [Video], [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], [Video], [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]
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], [Video], [Code]

Conference Papers

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], [Video], [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], [Video], [Code]

Workshops

Jiazhen Liu, Peihan Li, Yuwei Wu, Vijay Kumar, Lifeng Zhou, Risk-Aware Multi-Robot Target Tracking with Dangerous Zones, 2023 IROS IPPC Workshop
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

Preprints

Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, Fei Gao, Generating Large Convex Polytopes Directly on Point Clouds, 2021 [Preprint], [Video]

Experience

Research Assistant

Field Autonomous System & Computing Lab(FAST), ZheJiang University

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.

Jul 2020 - Aug 2021
Huzhou, China

Teaching Assistant

School of Engineering and Applied Science, University of Pennsylvania

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

present
Philadelphia, PA