Research

Fast Stochastic MPC with Affine Disturbance Feedback Policy using Offline Sampling based Feature Extraction

Proposed a real-time tractiable stochastic MPC with affine disturbance feedback policy using SVD feature extraction

Energy-Efficient Lane Changes Planning and Control for Connected Autonomous Vehicles on Urban Roads

We proposed novel energy-efficient motion planning algorithm which consists of the lane selector, which selects a lane to reduce energy...

Predictive control for autonomous driving with uncertain, multimodal predictions

Proposed a Stochastic MPC formulation for autonomous driving with multi-modal predictions of surrounding vehicles

Stochastic MPC with Realization-Adaptive Constraint Tightening

Proposed a novel and efficient offline sampled based approach to design a stochastic MPC for constrained linear systems with an...

Learning How to Solve Physics-Based Puzzles- Bubble Ball

Worked on how to solve multi-contact dynamics based games using optimal control and machine learning

Optimal Control of Power-Assisted Wheelchair with Human Interaction

Developed the adaptive optimal controller of power-assisted wheelchair with human-interaction and Integrated whole system from sensors and controller to communications...

Reinforcement Learning for Multi-Mobile Manipulators Cooperation with Obstacle Avoidance

In this research, I apply DQN(Deep Q-network) to solving the cooperative carrying object problem. To optimize the learning method for...

Controlling Posture of Jumping Articulated Robot for Stable Landing

What I did Skill : Matlab, Simulink, C Keywords :...

Control Robot Manipulator named ABB IRB-1200-5 to accomplish the given task such as picking up, removing rust and polishing

What I did Skill : Matlab, Simulink, Robotic Toolbox from...

Development of Fitness Automatic Record and Analysis Solution

Developed the Fitness Automatic Record and Analysis Solution through matlab and bluetooth communications.