Zhepei Wang

Hey, I'm Zhepei, and I'm currently pursuing my PhD in Automation under the supervision of Fei Gao and Chao Xu, at the FAST Lab from Zhejiang University, China, working on the motion planning and autonomous navigation for aerial robotics.

I finished my Bachelor at College of Control Science and Engineering, Zhejiang University, in 2017, also studying Automation.

Selected: A General-Purpose Trajectory Optimizer for Multicopters

Publications

Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, “Geometrically Constrained Trajectory Optimization for Multicopters”. Under Review, 2021.
[pdf | video | arxiv link]
(Reported by IEEE Spectrum Website)

Xin Zhou, Zhepei Wang, Hongkai Ye, Chao Xu, and Fei Gao, “EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors”. IEEE Robotics and Automation Letters (RA-L), 2021.
[pdf | bibtex | video | publisher link]
(Reported by IEEE Spectrum Website)

Zhepei Wang, Hongkai Ye, Chao Xu, and Fei Gao, “Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials”. IEEE International Conference on Robotics and Automation (ICRA), 2021.
[pdf | bibtex | video | publisher link]

Jialin Ji*, Zhepei Wang*, Yingjian Wang, Chao Xu, and Fei Gao, “Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion”. IEEE International Conference on Robotics and Automation (ICRA), 2021.
[pdf | bibtex | video | publisher link] (*Co-First Authors)

Zhepei Wang, Xin Zhou, Chao Xu, Jian Chu, and Fei Gao, “Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight”. IEEE Robotics and Automation Letters (RA-L), 2020, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
[pdf | bibtex | video | publisher link]

Zhichao Han, Zhepei Wang, Neng Pan, Yi Lin, Chao Xu, and Fei Gao, “Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing”. IEEE Robotics and Automation Letters (RA-L), 2021.
[pdf | bibtex | video | publisher link]

Xin Zhou, Zhepei Wang, Xiangyong Wen, Jiangchao Zhu, Chao Xu, and Fei Gao, “Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms”. Technical Report, 2021.
[pdf | video | arxiv link]
(Reported by IEEE Spectrum Website)

Zhepei Wang, Chao Xu, and Fei Gao, “Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes”. Submitted to IEEE International Conference on Robotics and Automation (ICRA), 2022.
[pdf | video | arxiv link]

Hongkai Ye, Xin Zhou, Zhepei Wang, Chao Xu, Jian Chu, and Fei Gao, “TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors”. IEEE Robotics and Automation Letters (RA-L), 2021.
[pdf | bibtex | video | publisher link]

Shaohui Yang, Botao He, Zhepei Wang, Chao Xu, and Fei Gao, “Whole-Body Real-Time Motion Planning for Multicopters”. IEEE International Conference on Robotics and Automation (ICRA), 2021.
[pdf | bibtex | video | publisher link]

Tianyu Liu, Qianhao Wang, Xingguang Zhong, Zhepei Wang, Chao Xu, and Fei Gao, “Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection”. Submitted to IEEE International Conference on Robotics and Automation (ICRA), 2022.
[pdf | video]

Jiangcheng Zhu, Jun Zhu, Zhepei Wang, Shan Guo, and Chao Xu, “Hierarchical Decision and Control for Continuous Multitarget Problem: Policy Evaluation With Action Delay”. IEEE Transactions on Neural Networks and Learning Systems (T-NNLS), 2018.
[pdf | bibtex | publisher link]