Yunfan Gao

Hi, I am a fourth-year Ph.D. student at Bosch Research and Albert-Ludwigs-Universität Freiburg. I am supervised by Dr. Niels van Duijkeren and advised by Prof. Dr. Moritz Diehl.

My PhD research is on “Robust Motion Planning of Fast Robots in Confined Spaces”. Previously, I obtained my master’s degree in Robotics, Systems and Control from ETH Zurich in 2022 and my bachelor’s degree in Electronic Engineering from Fudan University in 2019.

Research Highlights

Using LiDAR point clouds directly as the environment representation, the controller navigates narrow corridors and adapts seamlessly to changes of the environment.

See details in [1].

Collision avoidance between two ellipsoids can be formulated using an over-approximation of the Minkowski sum of the two ellipsoids.

See details in [2].

Collision-free motion planning is robustified while maintaining real-time feasibility using zero-order robust optimization (zoRO).

See details in [5], [4].

Yunfan Gao (高云帆)

Research Highlights

Using LiDAR point clouds directly as the environment representation, the controller navigates narrow corridors and adapts seamlessly to changes of the environment.

Collision avoidance between two ellipsoids can be formulated using an over-approximation of the Minkowski sum of the two ellipsoids.

Collision-free motion planning is robustified while maintaining real-time feasibility using zero-order robust optimization (zoRO).