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230 followers · 110 following

Achievements

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

Achievements

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

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@ZJU-FAST-Lab

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yuwei-wu/README.md

Hi, welcome to my git! 🪴

  • I'm a Ph.D. student at Upenn ESE, working on motion planning, 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 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.

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

  • kr_opt_sfc: A tool to find optimal convex cover to approximate collision-free space
  • kr_param_yaw: A trajectory optimization method with global yaw parameterization

1. Motion planning

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

2. Environment representation

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

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

GitHub Streak

Pinned Loading

  1. KumarRobotics/AllocNet KumarRobotics/AllocNet Public

    A lightweight learning-based trajectory optimization framework.

    C++ 60 6

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

    External Forces Resilient Safe Motion Planning for Quadrotor

    C 49 11

  3. RoboPhD RoboPhD Public

    Some records and notes of weekly arXiv papers, GRASP seminars, and resources

    131 16

  4. 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

    36 3

  5. KumarRobotics/kr_param_map KumarRobotics/kr_param_map Public

    A parameterized map generator for planning evaluations and benchmarking

    C++ 15 4

  6. Motion-Planning-for-Lynx Motion-Planning-for-Lynx Public

    This is a path planning simulation for Lynx Robot arm based on Gazebo and ROS Control

    Python 18 2