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followers: 215.0 following: 107.0 repos: 41.0 gists: 1.0

Name: Yuwei Wu

Type: User

Company: University of Pennsylvania

Bio: Ph.D.@KumarRobotics, interested in robotics, autonomous systems, and optimization

Twitter: YuweiWu11

Location: Philadelpia, PA

Blog: seas.upenn.edu/~yuweiwu

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
DZone_Tracking: A risk-aware multi-agent target tracking framework with sensing and communication danger zones
drl_lc_exploration: A multi-agent cooperative exploration in sparse landmark complex environments

Yuwei Wu's Projects

agile_autonomy

Repository Containing the Code associated with the Paper: "Learning High-Speed Flight in the Wild"

agile_flight

Developing and Comparing Vision-based Algorithms for Vision-based Agile Flight

allocnet

A lightweight learning-based trajectory optimization framework.

backup-openbilibili-go-common

2019年4-22日-bilibili-干杯站后端源码（原包删除前最后一版170M）

decompros

A revised version for ROS based convex decomposition

doubledescription

dsol

DSOL: Direct Sparse Odometry Lite

emu_routing_tool

This is a tool to solve the EMU scheduling problem

epsilon

Revised version of the EPSILON simulator for autonomous driving (only mathematical sim, no physical engine)

f1tenth-spinningup

An educational resource to help anyone learn deep reinforcement learning.

fast-planner

revised version for kr_mav_control on ROS noetic.

galaxy

Generating Large Convex Polytopes Directly on Point Clouds (2D)

gcopter

A Revised Version of GCOPTER

geometric-algebra-transformer

grid_map

Universal grid map library for mobile robotic mapping

gym-pybullet-drones

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control

imu_vn_100

ROS driver for VN-100 of VectorNav Technologies

jps3d

A C++ implementation of Jump Point Search on both 2D and 3D maps

kr_autonomous_flight

KR (KumarRobotics) autonomous flight system for GPS-denied quadrotors

kr_mav_control

Code for quadrotor control

lbfgs-lite

A header-only LBFGS unconstrained optimizer.

map_generator

Independent ros package to generate a random global map

motion-planning-for-lynx

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

motion_capture_system

Drivers for motion capture systems (Vicon and Qualisys, can be extended to compatible with other mocap systems)

multi_mav_manager

This is a multi MAV manager which leverages mav_manager and quadrotor_control for each agent.

path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

personalpage-template

This is my resume website template

rl-path-racing

We are trying to combine reinforcement learning and trajectory optimization to win in F 1/10 racing.

robocup_robot

Upennalizers team member, localization and computer vision review and study

robophd

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

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