20 citations · 58 across the 14 of their papers we have counts for
5 papers · 2 filters
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}.…