Yicheng Chen

Yicheng Chen

PhD student in robotics

The University of Tokyo

Hello! I’m Yicheng.

I am currently a PhD student at the DRAGON Lab, The University of Tokyo. I am passionate about aerial robotics, with a focus on motion planning research, from foundational algorithms to real-world applications.

I obtained my MSc and BEng degree from Beihang University.

Interests
  • Aerial Robotics
  • Motion Planning
  • Optimization
  • Machine Learning
Education

  • PhD student in Robotics, Oct. 2024 -

    Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo

  • MSc in Control Science and Engineering, Sept. 2021 - Jun. 2024

    School of Automation Science and Electrical Engineering, Beihang University

  • BEng in Automation, Sept. 2017 - Jun. 2021

    School of Automation Science and Electrical Engineering, Beihang University

Featured Work

Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li
September, 2023 arXiv
Learning-Initialized Trajectory Planning in Unknown Environments
Learning-Initialized Trajectory Planning in Unknown Environments

We introduce the Learning-Initialized Trajectory Planner (LIT-Planner), a novel approach that guides optimization using a Neural Network (NN) Planner to provide initial values.
PDF Cite Video Source Document

Projects

Aug 4, 2023
Aeriva: A Mini Autonomous Quadrotor Platform
Aeriva: A Mini Autonomous Quadrotor Platform

I designed and assembled this safe and agile 3.5-inch drone. It has been used in various scientific research and competitions in my lab.
Jun 20, 2023
2023 Huashan UAV Challenge - Champion
2023 Huashan UAV Challenge - Champion

led a team to win the 1st place in the 2023 Huashan UAV Challenge.
May 20, 2022
SLAM Practice on Unmanned Ground Vehicles
SLAM Practice on Unmanned Ground Vehicles

Implemented some basic SLAM algorithms on a TurtleBot and an Ackerman mini vehicle.
Apr 25, 2022
Modeling and Simulation for Quadcopter
Modeling and Simulation for Quadcopter

Modeled and simulated quadcopters in MATLAB and Simulink, implemented functions including position control, path following, and formation flight.
Jun 8, 2020
Application of Machine Learning in Medical Image Classification
Application of Machine Learning in Medical Image Classification

Use machine learning approaches to help preliminary diagnosis of chest radiographs: classify radiographs into 3 classes – COVID, normal, and viral pneumonia with the highest possible accuracy.
Code Slides
Dec 23, 2018
2018 Beihang Robot Competition
2018 Beihang Robot Competition

Built an Arduino-based robot with the following functions: line tracking, obstacle avoidance, object grabbing, and Bluetooth remote control.

Publications

Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li (2023). Learning-Initialized Trajectory Planning in Unknown Environments. arXiv.

PDF Cite Video Source Document

Yicheng Chen, Lingling Wang (2022). Adaptively Dynamic RRT*-Connect: Path Planning for UAVs Against Dynamic Obstacles. CACRE 2022.

PDF Cite DOI Slides

Huan Chang, Yicheng Chen, Baochang Zhang, David Doermann (2021). Multi-UAV Mobile Edge Computing and Path Planning Platform Based on Reinforcement Learning. IEEE Transactions on Emerging Topics in Computational Intelligence.

PDF Cite DOI

Awards

Excellent Graduate Student Award
Beijing Association of Automation Oct 2022
See certificate
Best Presenter Award
CACRE 2022 Jul 2022
See certificate

Moments

I love playing sports, such as long-distance running 🏃, hiking 🥾, cycling 🚴, table tennis 🏓, and snowboarding 🏂.