Research

1. Planning with robot dynamics under communication constraints

1. Multi-Robot Motion Planning with Dynamics in Unknown Environments.
We developed a robust multi-robot motion planning framework which can work well in partially known environments. The environments are challenging for planning with obstacle-rich and multiple narrow passages. (view the paper)

2. Planning for Multi-agent under Team-connected Communication constraint. (view the paper)

3. Single Robot Motion Planning with Dynamics in Unknown Environments. (view the paper)

2. Decision-Making under Uncertainty

1. Information Gain-based Pruning Strategy for Scout-Assisted Planning in Uncertain Graphs (view the paper)

2. Learning-informed Long-Horizon Navigation with Robot Dynamics in Partially Known Environments. (view the paper)

3. Learning-guided Runtime-based heuristic for Motion Planning with Dynamics (view the paper)

3. Control for robots

1. Control Framework for an Inchworm Hybrid Steel-Bridge Inspection Robot. (view the paper)

2. Control Framework for Manipulators in sorting application. (view the paper)

3. Distributed control in realtime operation system for an inverted rotary pendulum.