Yicheng Chen

PhD student in Mechanical Engineering

The University of Tokyo

Hello! I’m Yicheng.

I am currently a PhD student at the University of Tokyo. My research focuses on motion planning, with particular interest in developing methods for generating reliable and practical trajectories in complex environments.

Interests

• Motion Planning
• Optimization

Education

• PhD student in Mechanical Engineering, 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

Posts

Featured Work

Yicheng Chen, Jinjie Li, Haokun Liu, Zicheng Luo, Kotaro Kaneko, Moju Zhao

February, 2026 IEEE T-ASE

Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments

A planning framework for floating-base multi-link robots that has been demonstrated on a real robot to generate continuous, collision-free, and dynamically feasible trajectories directly from raw point-cloud inputs, without relying on handcrafted obstacle models.

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Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li

March, 2025 IROS 2025

Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments

We introduce NEO-Planner, which uses a neural network to initialize trajectory optimization for autonomous drones, cutting computation by 26% without sacrificing quality.

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Publications

Yicheng Chen, Jinjie Li, Haokun Liu, Zicheng Luo, Kotaro Kaneko, Moju Zhao (2026). Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments. IEEE T-ASE.

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Yicheng Chen, Jinjie Li, Wenyuan Qin, Yongzhao Hua, Xiwang Dong, Qingdong Li (2025). Learning to Initialize Trajectory Optimization for Vision-Based Autonomous Flight in Unknown Environments. IROS 2025.

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

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.

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Moments

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