Xiangyu Wu

Work experience

Motional
Software Engineer in Controls (Aug. 2023 - Present)

• Improve the lane change performance and safety of Motional's autonomous driving vehicle running on public roads in Las Vegas.
• Develop novel path planning and control methods for the autonomous driving vehicle to improve its handling of emergencies (e.g. harsh braking of leading vehicles, pop-up pedestrians).

Autel Robotics
Path planning Algorithm Engineer (Sep. 2022 - Dec. 2022)

• Improved the performance of the target localization and tracking modules, which enable the drone to track and take photos of the user-defined target autonomously.
• Upgraded the target localization and tracking modules from ROS1 to ROS2, optimized and deployed them on the latest drone model of Autel Robotics -- EVO MAX.

University of California, Berkeley
Graduate Student Researcher (May 2017 - Jun. 2022)

• Worked with Prof. Mark W. Mueller on the autonomy of aerial robots.
• Conducted research on the path planning, control, state estimation, and novel design of unmanned aerial vehicles (UAVs).

Technical Skills

• Programming: C++, Python, MATLAB, LabVIEW, LaTeX.
• Robotics: ROS1, ROS2, MPC, Nonlinear Controls, Kalman Filters, Path Planning, PX4, SLAM.
• Learning: TensorFlow.
• Modeling: AutoCAD, Solidworks, CATIA.

Publications

My research focuses on three main aspects:

• Autonomous navigation in unknown cluttered environments.
• Energy-efficient motion planning of aerial robots.
• State estimation / localization of aerial robots.

	Design, Modeling and Control of a Top-loading Fully-Actuated Cargo Transportation Multirotor W. Park, X. Wu, D. Lee, S.J. Lee IEEE Robotics and Automation Letters (RA-L), 2023 Paper / Video
	Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure J. Zha, X. Wu, R. Dimick, M. W. Mueller IEEE/ASME Transactions on Mechatronics, 2024 Paper / Video
	Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned M. Tranzatto, M. Dharmadhikari, L. Bernreiter, M. Camurri, S. Khattak, F. Mascarich, P. Pfreundschuh, D. Wisth, S. Zimmermann, M. Kulkarni, V. Reijgwart, B. Casseau, T. Homberger, P. De Petris, L. Ott, W. Tubby, G. Waibel, H. Nguyen, C. Cadena, R. Buchanan, L. Wellhausen, N. Khedekar, O. Andersson, L. Zhang, T. Miki, T. Dang, M. Mattamala, M. Montenegro, K. Meyer, X. Wu, A. Briod, M. Mueller, M. Fallon, R. Siegwart, M. Hutter, K. Alexis submitted to Field Robotics Paper / Video
	Zero-Shot Adaptive Quadcopter Controller D. Zhang, A. Loquercio, X. Wu, A. Kumar, J. Malik, M .W. Mueller 2023 International Conference on Robotics and Automation (ICRA) Paper / Video
	Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry X. Wu, S. Chen, K. Sreenath, and M. W. Mueller IEEE Access ,2022 Paper / Video
	Model-free online motion adaptation for energy efficient flights of multicopters X. Wu, J. Zeng, A. Tagliabue, and M. W. Mueller IEEE Access, 2022 Paper / Video / Code
	CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. L ̈oje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S. Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, M. Fallon, and K. Alexis Field Robotics, 2022 Paper / Video
	Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles S. Chen, X. Wu, M. W. Mueller, and K. Sreenath, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Paper
	Autonomous flight through cluttered outdoor environments using a memoryless planner J. Lee*, X. Wu*, S. J. Lee, and M. W. Mueller (*share the first authorship, alphabetical ordered.) International Conference on Unmanned Aircraft Systems (ICUAS), 2021 Paper / Video
	In-flight range optimization of multicopters using multivariable extremum seeking with adaptive step size X. Wu and M. W. Mueller International Conference on Robotics and Automation (IROS), 2020 Paper / Video
	A collision-resilient aerial vehicle with icosahedron tensegrity structure J. Zha, X. Wu, J. Kroeger, N. Perez and M. W. Mueller International Conference on Robotics and Automation (IROS), 2020 Paper / Video
	Using multiple short hops for multicopter navigation with only inertial sensors X. Wu and M. W. Mueller International Conference on Robotics and Automation (ICRA), 2020 Paper / Video
	Model-free online motion adaptation for optimal range and endurance of multicopters A. Tagliabue, X. Wu, and M. W. Mueller International Conference on Robotics and Automation (ICRA), 2019 Paper
	Embedding Consequence Awareness in Unmanned Aerial Systems with Generative Adversarial Networks G. Zhang, J. Alcala, J. Ng, M. Chen, X. Wu, M. W. Mueller and Y. Chen International Conference on Unmanned Aircraft Systems (ICUAS), 2019 Paper
	Towards a consequences-aware emergency landing system for unmanned aerial systems X. Wu and M. W. Mueller International Conference on Unmanned Aircraft Systems (ICUAS), 2018 Paper

Academic Services

Journal Reviewer

• IEEE Transactions on Aerospace and Electronic Systems
• IEEE Robotics and Automation Letters (RA-L)
• IEEE Access
• Autonomous Robots (AURO)
• Nonlinear Dynamics
• Archive of Mechanical Engineering

Conference Reviewer

• IEEE International Conference on Robotics and Automation (ICRA)
• IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• International Conference on Unmanned Aircraft Systems (ICUAS)
• ASME Dynamic Systems and Control Conference (DSCC)
• IFAC Symposium on Mechatronic Systems
• International Conference on Motion and Vibration Control