Zhepei Wang

Hey, my name is Zhepei. I'm passionate about autonomous vehicles, mathematical programming, and computational geometry. I received my Ph.D. degree in Control Science and Engineering from the Zhejiang University in 2022, for my work on motion planning for flying robots under the supervision of Fei Gao and Chao Xu at the ZJU-FAST-Lab. I received my B.Eng. degree in Automation from the College of Control Science and Engineering, Zhejiang University, in 2017.

Selected: A General-Purpose Trajectory Optimizer for Multicopters

Publications

Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, “Geometrically Constrained Trajectory Optimization for Multicopters”. IEEE Transactions on Robotics (T-RO), Regular Paper, 2022.
[ pdf | video 0 | video 1 | publisher link ]
(Reported by IEEE Spectrum Website)

Xin Zhou, Xiangyong Wen, Zhepei Wang, Yuman Gao, Haojia Li, Qianhao Wang, Tiankai Yang, Haojian Lu, Yanjun Cao, Chao Xu, and Fei Gao, “Swarm of Micro Flying Robots in the Wild”. Science Robotics (SciRob), 2022.
[ pdf | video | publisher link ]

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 ]

Qianhao Wang*, Zhepei Wang*, and Fei Gao, “A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization”. Technical Report, 2022.
[ pdf | arxiv link ] (*Co-First Authors)

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)

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 also in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
[ pdf | bibtex | video | publisher link ]

Zhepei Wang, Chao Xu, and Fei Gao, “Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[ pdf | video | arxiv 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)

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 ]

Yunfan Ren, Fangcheng Zhu, Wenyi Liu, Zhepei Wang, Yi Lin, Fei Gao, and Fu Zhang, “Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
[ pdf | video | arxiv 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”. 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 ]