Selected Publications

Journal Papers

• [J7] Kota Kondo, Yuwei Wu, Vijay Kumar, Jonathan P How, "MIGHTY: Hermite Spline-Based Efficient Trajectory Planning," in IEEE Robotics and Automation Letters, vol. 11, no. 6, pp. 6664-6671, June 2026
  Paper ArXiv Code

• [J6] Peihan Li, Jiazhen Liu, Yuwei Wu, Lifeng Zhou, "Failure-Aware Multi-Robot Coordination for Resilient and Adaptive Target Tracking," in IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 23, pp. 4023-4038, 2026
  Paper ArXiv Video

• [J5] Yuwei Wu, Igor Spasojevic, Pratik Chaudhari, Vijay Kumar, "Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation," in IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 5, pp. 4762-4769, May 2025, presented at ICRA 2026
  Paper ArXiv Code

• [J4] Yuwei Wu, Xiatao Sun, Igor Spasojevic and Vijay Kumar, "Deep Learning for Optimization of Trajectories for Quadrotors," in IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 3, pp. 2479-2486, March 2024
  Paper ArXiv Code

• [J3] Zhichao Han*, Yuwei Wu*, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li et al. "An efficient spatial-temporal trajectory planner for autonomous vehicles in unstructured environments." in IEEE Transactions on Intelligent Transportation Systems (T-ITS), vol. 25, no. 2, pp. 1797-1814, Feb. 2024
  Paper ArXiv Code

• [J2] Ankit Prabhu, Xu Liu, Igor Spasojevic, Yuwei Wu, Yifei Shao, Dexter Ong, Jiuzhou Lei, Patrick Corey Green, Pratik Chaudhari, Vijay Kumar, "UAVs for forestry: Metric-semantic mapping and diameter estimation with autonomous aerial robots." Mechanical Systems and Signal Processing 208 (2024): 111050.
  Paper

• [J1] Yuwei Wu, Ziming Ding, Chao Xu and Fei Gao, "External Forces Resilient Safe Motion Planning for Quadrotor," in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 8506-8513, Oct. 2021
  Paper ArXiv Code

Conference Papers

• [C12] Songhao Huang*, Yuwei Wu*, Guangyao Shi, Gaurav S. Sukhatme, and Vijay Kumar, "SPAR: Scalable LLM-based PDDL Domain Generation for Aerial Robotics," 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear.
  ArXiv

• [C11] Guangyao Shi, Yuwei Wu, Vijay Kumar, and Gaurav S. Sukhatme, "PIP-LLM: Integrating PDDL-Integer Programming with LLMs for Coordinating Multi-Robot Teams Using Natural Language," 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear.
  ArXiv

• [C10] Yuwei Wu, Yichen Zhao, Dexter Ong, and Vijay Kumar, "STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments," 2026 17th World Symposium on the Algorithmic Foundations of Robotics (WAFR).
  ArXiv

• [C9] Zhehui Huang, Guangyao Shi, Yuwei Wu, Vijay Kumar, and Gaurav S. Sukhatme, "Compositional Coordination for Multi-Robot Teams with Large Language Models," 2025 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Singapore, 2025.
  ArXiv Project

• [C8] Yuwei Wu, Yuezhan Tao, Peihan Li, Guangyao Shi, Gaurav S. Sukhatme, Vijay Kumar, and Lifeng Zhou, "Hierarchical LLMs In-the-Loop Optimization for Real-Time Multi-Robot Target Tracking under Unknown Hazards," 2025 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Singapore, 2025.
  ArXiv Project

• [C7] Anish Bhattacharya, Nishanth Rao, Dhruv Parikh, Pratik Kunapuli, Yuwei Wu, Yuezhan Tao, Nikolai Matni, and Vijay Kumar, "Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 1-8.
  ArXiv Project

• [C6] Peihan Li, Yuwei Wu, Jiazhen Liu, Gaurav S. Sukhatme, Vijay Kumar, Lifeng Zhou "Resilient Multi-Robot Target Tracking with Sensing and Communication Danger Zones" 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 2025, pp. 3573-3580, Best Paper Award Finalist
  ArXiv

• [C5] Songhao Huang*, Yuwei Wu*, Yuezhan Tao, Vijay Kumar "Safe Interval Motion Planning for Quadrotors in Dynamic Environments." 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 2780-2786. IEEE, 2025.
  Paper ArXiv

• [C4] Yuwei Wu, Yuezhan Tao, Igor Spasojevic, and Vijay Kumar. "Trajectory Optimization with Global Yaw Parameterization for Field-of-View Constrained Autonomous Flight." 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 10590-10596, Oral Presentation
  Paper ArXiv Code

• [C3] Jiazhen Liu*, Peihan Li*, Yuwei Wu, Gaurav S. Sukhatme, Vijay Kumar, and Lifeng Zhou. "Multi-Robot Target Tracking with Sensing and Communication Danger Zones." 2024 International Symposium on Distributed Autonomous Robotic Systems. Best Paper Award Nomination
  Paper ArXiv Code

• [C2] Yifei Simon Shao*, Yuwei Wu*, Laura Jarin-Lipschitz*, Pratik Chaudhari, Vijay Kumar, "Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities," 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 10033-10039
  Paper ArXiv Code

• [C1] Yuezhan Tao, Yuwei Wu, Beiming Li, Fernando Cladera, Alex Zhou, Dinesh Thakur, Vijay Kumar, "SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain," 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 1235-1241
  Paper ArXiv Code

Workshops Papers

• [W4] Yuwei Wu, Igor Spasojevic, Pratik Chaudhari, Vijay Kumar, "Optimal Convex Cover as Collision-Free Space Approximation for Trajectory Generation," WAFR 2024, poster.
  ArXiv

• [W3] Peihan Li, Jiazhen Liu, Yuwei Wu, Vijay Kumar, and Lifeng Zhou, "Resilient Multi-Robot Target Tracking with Dangerous Zones," 2023 IROS Workshop: Robotics for Climate Resiliency.
  ArXiv

• [W2] Jiazhen Liu, Peihan Li, Yuwei Wu, Vijay Kumar, Lifeng Zhou, Risk-Aware Multi-Robot Target Tracking with Dangerous Zones, 2023 IROS IPPC Workshop
  Paper

• [W1] Fernando Cladera*, Yuwei Wu*, Xu Liu, Yuezhan Tao, Ian D Miller, CJ Taylor, Vijay Kumar, Open Source Tools for Deployment of GPS-Denied Autonomous UAVs in Real-World Application, ICRA 2023 Workshop Lab-to-Real Gap
  Paper

Preprints

• [P3] Xiaofan Yu, Yuwei Wu, Katherine Mao, Ye Tian, Vijay Kumar, and Tajana Rosing, "DroneFL: Federated Learning for Multi-UAV Visual Target Tracking," 2025.
  ArXiv

• [P2] Xiatao Sun, Yuwei Wu, Subhrajit Bhattacharya, Vijay Kumar, Multi-Agent Exploration of an Unknown Sparse Landmark Complex via Deep Reinforcement Learning, 2022
  ArXiv Code

• [P1] Xingguang Zhong, Yuwei Wu, Dong Wang, Qianhao Wang, Chao Xu, Fei Gao, Generating Large Convex Polytopes Directly on Point Clouds, 2020
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