Wenyi Liu — accepted AI-conference papers

2024

Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances

RA-L 2024

Autonomous flight for quadrotors in environments with suddenly appearing objects and disturbances still faces significant challenges. In this work, we propose an integrated planning and control framework called IPC. Specifically, we design a framework consisting of a lightweight frontend and an MPC

Cited by 34 Source ↗Scholar ↗

2022

Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors

Yunfan Ren, Fangcheng Zhu, Wenyi Liu, Zhepei Wang, Yi Lin, Fei Gao +1

IROS 2022poster

Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion planning algorithm based on the corridor-constrained minimum…

Cited by 70 Source ↗Scholar ↗