5 papers
Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles
Peiwen Yang, Shiyu Bai, Weisong Wen +2
Safe and agile trajectory planning is essential for autonomous systems, especially during complex aerobatic maneuvers. Motivated by the recent success of diffusion models in genera…
Spatiotemporal Calibration for Laser Vision Sensor in Hand-eye System Based on Straight-line Constraint
Peiwen Yang, Mingquan Jiang, Xinyue Shen +1
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, t…
Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit
Peiwen Yang, Weisong Wen, Runqiu Yang +5
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion plann…
Wall Inspector: Quadrotor Control in Wall-proximity Through Model Compensation
Peiwen Yang, Weisong Wen, Runqiu Yang +2
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising…
Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
Peiwen Yang, Weisong Wen, Shiyu Bai +1
The execution of flight missions by unmanned aerial vehicles (UAV) primarily relies on navigation. In particular, the navigation pipeline has traditionally been divided into positi…