Dewang Cheng — accepted AI-conference papers

2026

Differential Flatness Based Control for a Reconfigured Underactuated Hexacopter With Lateral Bi-Directional Thrust

Zhenlong Zhang, Qingchen Liu, Dewang Cheng, Yinwu Zheng, Jiahu Qin

RA-L 2026

Aerial docking of unmanned aerial vehicles (UAVs) is essential for advanced applications like persistent surveillance and in-flight recharging. Conventional underactuated multirotors, with only four control inputs for six degrees of freedom, lack independent control over their full pose. This fundam

Cited by 1 Source ↗Scholar ↗

2024

PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments

Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian, Qichao Ma

RA-L 2024

The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a performance-enhanced quadrotor motion planner designed for autonomo

Cited by 10 Source ↗Scholar ↗