Research

Projects

My research experience includes path planning, motion prediction, optimal control, and cooperative control in multi-agent systems.

Conflict Resolution in Constrained Space

Keywords: Optimal Control, MPC, Deep Reinforcement Learning

Multimodal Intent and Motion Prediction for vehicles in Parking Lots (ParkPredict+)

Keywords: Convolutional Neural Network, Transformer, Dataset

Perception and Control System for Autonomous Solar Panel Delivery

Keywords: Routing, Path Planning, Control, MPC, Vehicle Dynamics, LiDAR-Camera Fusion

(Demo available upon request)

Collision Avoidance in Tightly-Constrained Environments

Keywords: Optimal Control, MPC, Neural Network

Parking of Autonomous Vehicle Fleet in Tight Environments

Keywords: Optimal Control, Collision Avoidance, CARLA

Multimodal Intent and Motion Prediction for vehicles in Parking Lots (ParkPredict)

Keywords: Convolutional Neural Network, LSTM, CARLA

Other Projects

Distributed MPC for Intersection Conflict Resolution
1. Achieved the decentralized intersection crossing control by low-rank Semidefinite Programming (SDP) and Alternating Direction Method of Multipliers (ADMM) methods.
2. The project report is available here.
The Implementation of Autonomous Parking System
1. Assisted the implementation of autonomous parking system on Hyundai Genesis Vehicle.
2. The system achieves localization by dGPS, generates parking maneuver with optimization based path-planner, and tracks the reference trajectory with longitudinal and lateral LQR.
Simulator Design for Vision-based Lane Keeping MPC
1. Constructed the testing environment and configured sensor installation in V-Rep simulation platform.
2. Designed the ROS interface for vision-based lane detection module and MPC controller.

Undergraduate Projects

Projects finished during the undergraduate study, which covered various topics in Mechanical Engineering including control, robotics, design, and tribology.

Google Sites

Report abuse