Skip to content
View yuwei-wu's full-sized avatar
🫐
Look for areas or problems that are being ignored.
🫐
Look for areas or problems that are being ignored.
275 followers · 118 following

Achievements

Achievement: Starstruckx2Achievement: Pull Sharkx2Achievement: YOLOAchievement: Arctic Code Vault Contributor

Achievements

Achievement: Starstruckx2Achievement: Pull Sharkx2Achievement: YOLOAchievement: Arctic Code Vault Contributor

Highlights

  • Pro

Organizations

@ZJU-FAST-Lab

Block or report yuwei-wu

Block user

Prevent this user from interacting with your repositories and sending you notifications. Learn more about blocking users.

You must be logged in to block users.

Please don't include any personal information such as legal names or email addresses. Maximum 100 characters, markdown supported. This note will be visible to only you.
Report abuse

Contact GitHub support about this user’s behavior. Learn more about reporting abuse.

Report abuse
yuwei-wu/README.md

Hi, welcome to my git! 🪴

  • I'm a Ph.D. student at UPenn ESE, working on motion planning for robots, with the supervision of Professor Vijay Kumar.
  • My research interests are:
    • (Multi-agent) Task and motion planning
    • (Learning-enabled) Trajectory generation and optimization
    • Aerial robot applications (exploration, tracking, navigation)
  • I welcome collaboration if:
    • You are interested in exploring research topics, particularly in trajectory planning.
    • You are a Penn student looking to pursue an independent study or thesis under my guidance.

Open-Source

I am passionate about open sourcing to benefit the entire robotics community.

1. Motion planning

  • AllocNet: A lightweight learning-based trajectory optimization framework. (ROS1)
  • forces_resilient_planner: A systematic framework for local planning under external disturbance. (ROS1)

2. Environment representation

  • kr_opt_sfc: A tool to find optimal convex cover to approximate collision-free space.

3. Simulation and benchmarks

  • kr_mp_design: A guidance for the design and evaluation of motion planners for quadrotors
  • kr_param_map: A parameterized map generator for planning evaluations and benchmarking (ROS1 & ROS2 compatible)

4. More collaboration works

  • SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
  • drl_lc_exploration: A multi-agent cooperative exploration in sparse landmark complex environments
  • DZone_Tracking: A risk-aware multi-agent target tracking framework with sensing and communication danger zones
  • resilient-target-tracking: A resilient and adaptive multi-robot target tracking framework with sensing and communication danger zones
  • hierarchical-llms: A hierarchical Large Language Models (LLMs) framework for real-time multi-robot task allocation and target tracking with unknown hazards

5. Toolkit for robotic research

  • Simulations
    • rotors_simulator (revised): Updated for ROS Noetic with additional features for evaluating moving obstacles and external forces. (ROS1)
    • planner_benchmark: Lightweight UAV simulation environment for benchmarking global and local trajectory optimization and planning. (ROS2)
    • planner_interface: A modular library for polynomial trajectory parameterization and representation for trajectory planning. (ROS2)
  • Trajectory Optimization
    • GCOPTER (revised): A revised version optimized for benchmarking, compatible with both ROS1 and ROS2, and available in a pure C++ implementation.
  • Utils
    • utils: A collection of utility functions and helper scripts for robotics-related development.

under construction (in this order, I will work on it)

  • kr_param_yaw: A trajectory optimization method with global yaw parameterization

Pinned Loading

  1. KumarRobotics/kr_opt_sfc KumarRobotics/kr_opt_sfc Public

    Implementation for "Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation"

    C++ 32

  2. KumarRobotics/AllocNet KumarRobotics/AllocNet Public

    A lightweight learning-based trajectory optimization framework.

    C++ 104 8

  3. ZJU-FAST-Lab/forces_resilient_planner ZJU-FAST-Lab/forces_resilient_planner Public

    External Forces Resilient Safe Motion Planning for Quadrotor

    C 64 11

  4. KumarRobotics/kr_param_map KumarRobotics/kr_param_map Public

    A parameterized map generator for planning evaluations and benchmarking (ROS1 & ROS2 compatible)

    C++ 28 6

  5. RoboPhD RoboPhD Public

    A curated collection of papers, seminars, courses, and technical resources for robotic research.

    161 19

  6. KumarRobotics/kr_mp_design KumarRobotics/kr_mp_design Public

    A guidance for the design and evaluation of motion planners for quadrotors in Environments with Varying Complexities

    42 3