自动驾驶技术，自主导航的路径规划，多传感器融合的定位建图

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自2023年起，本人每年度大致招收1-2名硕士生

   

2014年9月-2019年7月，清华大学，工学博士
2010年9月-2014年7月，清华大学，工学学士

​2021年9月-今，中科院计算所，副研究员

2019年7月2021年9月，中科院计算所，助理研究员

期刊文章: 

[1] Andong Yang; Wei Li*; Yu Hu*, Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments, IEEE  Robotics and Automation Letters, 2024.

[2] Yifan Gao; Wei Li*; Yu Hu*, Trajectory Planning for Autonomous Driving Featuring Time-Varying Road Curvature and Adhesion Constraints[J]. IEEE Transactions on Intelligent Transportation Systems, 2024.

[3] Wei Li; Xiaowei Cui*; Mingquan Lu; A robust graph optimization realization of tightly coupled GNSS/INS integrated navigation system for urban vehicles , Tsinghua Science and Technology, 2018, 23(6): 724-732. 

[4] Wei Li; Wenyi Li; Xiaowei Cui*; Sihao Zhao; Mingquan Lu; A Tightly Coupled RTK/INS Algorithm with Ambiguity Resolution in the Position Domain for Ground Vehicles in Harsh Urban Environments , Sensors, 2018, 18(7): 2160. 

会议文章：

[1] Andong Yang; Wei Li*; Yu Hu*, F3DMP: Foresighted 3D Motion Planning of Mobile Robots in Wild Environments, 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024.

[2] Andong Yang; Wei Li*; Yu Hu*, SCOML: Trajectory Planning Based on Self-Correcting Meta-Reinforcement Learning in Hybrid Terrain for Mobile Robot, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024.

[3] Haoyu Xi; Wei Li*; Fangzhou Zhao; Liang Chen; Yu Hu*, A Safe and Efficient Timed-Elastic-Band Planner for Unstructured Environments, 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024.

[4] Wensong Chen, Wei Li*, Andong Yang, Yu Hu*, Active Visual SLAM Based on Hierarchical Reinforcement Learning, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023:7155-7162.

[5] Cheng Ye , Wei Li*, Yu Hu*,  A Tightly-Coupled GNSS RTK/INS Positioning Algorithm Based on Adaptive Lag Smoother. The 2023 IEEE Intelligent Vehicles Symposium (IV 2023). 2023

[6] Andong Yang, Wei Li*, Yu Hu*, SMS-MPC: Adversarial Learning-based Simultaneous Prediction Control with Single Model for Mobile Robots, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. 

[7] Jingyu Niu, Yu Hu*, Wei Li, Guangyan Huang, Yinhe Han, Xiaowei Li, Closing the Dynamics Gap via Adversarial and Reinforcement Learning for High-Speed Racing, in IEEE International Joint Conference on Neural Networks (IJCNN), oral (Candidate of Best Paper Award), 2022.

[8] Wei Li; Yu Hu*; Yinhe Han; Xiaowei Li; KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry, 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021: 5042-5048. 

[9] Wei Li; Xiaowei Cui*; Yimin Wei; Mingquan Lu; An Ambiguity-free Smoothing Algorithm for Multipath Mitigation in INS/RTK Tightly-Coupled Integration, Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, USA, 2019: 2980-2990. 

[10] Wei Li; Xiaowei Cui*; Xueyong Xu; Mingquan Lu; An Improved Ambiguity Resolution Algorithm Based on Particle Filter for INS/RTK Integration in Urban Environments, Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, USA, 2018: 3122-3135. 

[11] Qin Shi; Xiaowei Cui*; Wei Li; Yu Xia; Mingquan Lu; Visual-UWB Navigation System for Unknown Environments, Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, USA, 2018: 3111-3121. 

[12] Zheng Cao; Sihao Zhao; Xiaowei Cui; Wei Li; Mingquan Lu; Indoor Autonomous Vehicle Navigation Based on a Wireless Position and Orientation Determination System, Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, USA, 2018: 703-716. 

科研项目：

[1] 国家自然科学基金青年项目：“面向深空探测巡视器的多传感器融合导航定位方法研究”，项目负责人；

[2] “火星表面智能感知规划验证系统”，项目负责人；

[3] “非结构化场景中多模态融合的定位建图方法研究”，项目负责人； 

[4] “车端在线感知与离线地图的融合增强技术研究”，课题负责人；

[5] “西部高原无人运输车环境感知、导航定位与路径规划关键技术研究”，课题骨干；

[6] “行星巡视器自主导航与自动驾驶关键技术”，课题骨干； 

[7] “资源受限无人系统的轻量化计算”，课题骨干；