Author

Yaohua Shen

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Open access Sep 2026

A Risk-Aware Safety Framework for UWB-Localized Quadrotors: Geometry-Aware Error Compensation and Belief-Space Collision Avoidance

Ultra-wideband (UWB) positioning provides cost-effective localization for quadrotors in global navigation satellite system (GNSS)-denied environments, but geometry-dependent, heavy-tailed errors challenge state estimation and safety-critical control. This paper presents a risk-aware framework linking geometry-aware err...

Yu-Fei Yang, Jun-Jie Cao, Yaohua Shen · Machines · 0 citations

Jul 2026

Physics-Aware End-to-End Deep Reinforcement Learning for Quadcopter Control with Actuator Dynamics

A physics-aware, end-to-end deep reinforcement learning (DRL) approach that acts directly on low-level body inputs, total thrust and body torques, and closes the loop through a high-fidelity Simulink environment is investigated.

Yaohua Shen, W. Chan · arXiv.org · 0 citations