3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…