Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models

Yuhang Zhong, Anke Zhao, Tianyue Wu, Tingrui Zhang, Fei Gao

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025),

This paper introduces a diffusion-based method for generating long-horizon aerobatic drone trajectories by decomposing maneuvers into learnable primitives.

BilibiliarXiv

Any-shape Real-time Replanning via Swept Volume SDF

Yijin Wang*, Tingrui Zhang*, Mengke Zhang, Shuhang Ji, Xiaoying Li, Zhen Li, Fei Gao

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025),

This paper introduces a novel approach for continuous collision-free trajectory generation using implicit Swept Volume SDF for arbitrary shapes.

StarsBilibili

Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes

Jingping Wang*, Tingrui Zhang*, Qixuan Zhang, Chuxiao Zeng, Jingyi Yu, Chao Xu, Lan Xu, Fei Gao

SIGGRAPH 2024, ACM Transactions on Graphics (TOG 2024),

This paper presents a hierarchical trajectory planner using Swept Volume SDF (SVSDF) to enable continuous collision avoidance for Arbitrary Shapes.

StarsYouTubeBilibiliarXiv

Continuous Implicit SDF Based Any-Shape Robot Trajectory Optimization

Tingrui Zhang*, Jingping Wang*, Chao Xu, Alan Gao, Fei Gao

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023),

This paper presents a continuous implicit SDF based approach for optimizing trajectories of robots with arbitrary shapes.

StarsYouTubeBilibiliarXiv

Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments

Lun Quan*, Longji Yin*, Tingrui Zhang, Mingyang Wang, Ruilin Wang, Sheng Zhong, Yanjun Cao, Chao Xu, Fei Gao

IEEE Transactions on Robotics (TRO 2023),

This paper presents a robust and efficient trajectory planning approach for formation flight of uav swarms in dense environments.

StarsYouTubeBilibiliarXiv

Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments

Changjia Ma, Zhichao Han, Tingrui Zhang, Jingping Wang, Long Xu, Chengyang Li, Chao Xu, Fei Gao

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023),

This paper proposes a decentralized planning approach for car-like robotic swarms in cluttered environments.

StarsYouTubeBilibiliarXiv

RoboMaster University AI ChallengeTeam National Runner-up

RoboMaster University AI Challenge, a robotics competition where teams use autonomous robots to engage in a 2v2 shooting match on a rune-filled battlefield, requiring motion planning, control, and autonomous decision-making.

YouTube

MeituanIntern

Local Path Planning Developer

Worked on localized route planning development in Meituan's UAV algorithms department between Jun. 2023 – Dec. 2024