20 citations · 58 across the 14 of their papers we have counts for
15 papers · 1 filter
MultiPark: Multimodal Parking Transformer with Next-Segment Prediction
Han Zheng, Zikang Zhou, Guli Zhang +6
Parking accurately and safely in highly constrained spaces remains a critical challenge. Unlike structured driving environments, parking requires executing complex maneuvers such a…
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
Jialiang Hou, Neng Pan, Zhepei Wang +4
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, bu…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization
Qianhao Wang, Zhepei Wang, Liuao Pei +2
Collision evaluation is of vital importance in various applications. However, existing methods are either cumbersome to calculate or have a gap with the actual value. In this paper…
Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection
Tianyu Liu, Qianhao Wang, Xingguang Zhong +4
The visible capability is critical in many robot applications, such as inspection and surveillance, etc. Without the assurance of the visibility to targets, some tasks end up not b…
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Yunfan Ren, Fangcheng Zhu, Wenyi Liu +4
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains…
Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes
Zhepei Wang, Chao Xu, Fei Gao
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumb…
Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms
Xin Zhou, Zhepei Wang, Xiangyong Wen +3
Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. Th…
Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing
Zhichao Han, Zhepei Wang, Neng Pan +3
With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always…
Geometrically Constrained Trajectory Optimization for Multicopters
Zhepei Wang, Xin Zhou, Chao Xu +1
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of t…
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
Jialin Ji, Zhepei Wang, Yingjian Wang +2
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless plan…
Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials
Zhepei Wang, Hongkai Ye, Chao Xu +1
For quadrotor trajectory planning, describing a polynomial trajectory through coefficients and end-derivatives both enjoy their own convenience in energy minimization. We name them…
EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors
Xin Zhou, Zhepei Wang, Hongkai Ye +2
Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction.…
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu +2
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this pa…
Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu +1
This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}.…