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Liang He

Liang He(何亮)

Contact : Email: lianghe dot hust at gmail.com

I graduated from The University of North Carolina at Chapel Hill with a Ph.D. degree in  Computer Science Department, supervised by Dinesh Manocha. My major academic areas of focus were Robotics, Graphics and Artificial Intelligence. My main technical contributions to these areas were in the use of computational geometric and cognitive methods to improve the safety and efficiency of multi-agent working in complicated narrow workspaces. The applications based on these technologies include many real-time Robotics and Virtual Reality systems such as self-driving vehicles, drones, cleaning robots, crowd simulation, and slam reconstruction.

Before I moved to UNC-Chapel Hill, I worked at the Algorithmic Robotics Lab at the University of Utah with Dr. Jur van den Berg. I also received my BS and MS degrees from HuaZhong University of Science and Technology.


Publications  (Google Scholar)

"Real-Time Multi-Agent Motion Planning for the Narrow Passage Problem"   [PDF ]

Liang He

Ph.D. Dissertation, Department of Computer Science, The University of North Carolina at Chapel Hill 


[10] Liang He, Zherong Pan, and Dinesh Manocha 

"Real-Time Decentralized Navigation of Nonholonomic Agents Using Shifted Yielding Areas"

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2023    [PDF  ][Video]


[9] Liang He, Zherong Pan, Kiril Solovey, Biao Jia, and Dinesh Manocha 

"Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding "

 IEEE Robotics and Automation Letters (RA-L).    [PDF  ][Video]


[8] Zherong Pan. Liang He .Xifeng Gao

"Inner-Approximation of Manipulable and Reachable Regions using Bilinear Matrix Inequalities "

Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, 2020.    [PDF ]


[7] Liang He .Jia Pan .Dinesh Manocha

"Efficient Multi-Agent Global Navigation Using Interpolating Bridges"

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2017   [PDF ]


[6] Liang He. Jia Pan. Sahil Narang .Dinesh Manocha

"Dynamic Group Behaviors for Interactive Crowd Simulation"

Proc. ACM SIGGRAPH Symposium on Computer Animation (SCA) 2016  [PDF ]   [Website]


[5] Liang He .Jia Pan .Wenping Wang .Dinesh Manocha

"Proxemic Group Behaviors using Reciprocal Multi-Agent Navigation"

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2016   [PDF ]   [Website]


[4] Liang.He .Jia Pan .Danwei Li .Dinesh Manocha

"Efficient Penetration Depth Computation between Rigid Models using Contact Space Propagation Sampling" 

 IEEE Robotics and Automation Letters (RA-L) Also presented at 

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2016  [PDF ]


[3] Liang.He .Ricardo Ortizy .Andinet Enquobahriey .Dinesh Manocha.

"Interactive Continuous Collision Detection for Topology Changing Models Using Dynamic Clustering" 

Proc. ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)  2015   [PDF ] 


[2] Liang.He .Jur Van Den Berg 

"Efficient Exact Collision-Checking of 3-D Rigid Body Motions using Linear Transformations and Distance Computations in Workspace"

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2014  [PDF]


[1] Liang.He .Jur Van Den Berg 

"Meso-Scale Planning for Multi-Agent Navigation" 

Proc. IEEE International Conference on Robotics and Automation (ICRA) 2013   [PDF]


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