About

I work on planning and controls for autonomous vehicles at WeRide.ai. Previously, I worked on motion planning for industrial robot arms at XYZ Robotics Inc.

I received the M.Eng. degree from Duke University, where I did research on motion planning and optimal control at the Intelligent Motion Laboratory. I received my B.Eng. degree from Wuhan University of Technology.

Email: me@weidongsun.com

[GitHub] [LinkedIn] [Google Scholar]

What I do

Motion Planning for Robot Arms:

RobotMoves

Without Cartesian constraint

RobotMovesAgain

With Cartesian constraint

Publications

* Denotes equal contribution.

Journal & Conferences

Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
Weidong Sun*, Gao Tang*, and Kris Hauser
IEEE Transactions on Robotics 2021
Winner of the Best Paper Award 2021 from
TC on Model-Based Optimization for Robotics
[IEEE] [PDF] [Code]

Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
Weidong Sun*, Gao Tang*, and Kris Hauser
ACC 2020
[IEEE] [PDF] [Code]

Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach
Gao Tang, Weidong Sun, and Kris Hauser
ICRA 2020
[IEEE] [PDF] [Video]

Time-Optimal Trajectory Generation for Dynamic Vehicles: A Bilevel Optimization Approach
Gao Tang*, Weidong Sun*, and Kris Hauser
IROS 2019
[IEEE] [PDF]

Learning Trajectories for Real-Time Optimal Control of Quadrotors
Gao Tang, Weidong Sun, and Kris Hauser
IROS 2018
[PDF] [Video] [Slides]

Workshop and Posters

Time-Optimal Trajectory Generation for Dynamic Vehicles: A Bilevel Optimization Approach
Gao Tang*, Weidong Sun*, and Kris Hauser
Presentation, ICRA 2019 workshop on
Toward Online Optimal Control of Dynamic Robots
[PDF] [Poster] [Slides]

Fast UAV Trajectory Generation Using Bilevel Optimization
Weidong Sun*, Gao Tang*, and Kris Hauser
Presentation, ICRA 2019 Workshop on
The Future of Aerial Robotics: Challenges and Opportunities
[PDF] [Slides]

Contact

Email: weidong.sun@alumni.duke.edu