Robotics and Motion Planning
Robotics and motion planning explores the advantages of domain knowledge about the robots and environments. I'm interested in advanced techniques in this area to help the robot complete the tasks accurately and reliably, including the following topics: (1) Trajectory optimization: Optimization-based methods for trajectory planning; (2) Model predictive control: Closed-loop implementation and analysis of the planner and controller; (3) Task and motion planning: Jointly make high-level decision and low-level planning.
- J. Chen, Y. Shimizu, L. Sun, M. Tomizuka, W. Zhan, "Constrained Iterative LQG for Real-Time Chance-ConstrainedGaussian Belief Space Planning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
- J. Li, L. Sun, J. Chen, M. Tomizuka, W. Zhan, "A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning", International Conference on Robotics and Automation (ICRA), 2021.
- L. Xin, Y. Kong, SE. Li, J. Chen, Y. Guan, M. Tomizuka, B. Cheng, "Enable faster and smoother spatio-temporal trajectory planning for autonomous vehicles in constrained dynamic environment", Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2021.
- Y. Shimizu, W. Zhan, L. Sun, J. Chen, S. Kato and M. Tomizuka, “Motion Planning for Autonomous Driving with Extended Constrained Iterative LQR”, ASME Letters in Dynamic Systems and Control, also presented in Dynamic Systems and Control Conference (DSCC), 2020.
- J. Chen, W. Zhan, and M. Tomizuka, “Autonomous Driving Motion Planning with Constrained Iterative LQR”, IEEE Transactions on Intelligent Vehicles (T-IV), 2019.
- J. Chen, C. Tang, L. Xin, and M. Tomizuka, “Continuous Decision Making for Autonomous Driving under Uncertain and Interactive Environments”, IEEE Intelligent Vehicle Symposium (IV), 2018.
- J. Chen, C. Liu, and M. Tomizuka, “FOAD: Fast Optimization-based Autonomous Driving Motion Planner”, American Control Conference (ACC), 2018.
- J. Chen, W. Zhan, and M. Tomizuka, “Constrained Iterative LQR for On-Road Autonomous Driving Motion Planning”, IEEE Intelligent Transportation Systems Conference (ITSC), 2017.
- W. Zhan, J. Chen, C-Y. Chan, and M. Tomizuka, “Spatially-Partitioned Environmental Representation and Planning Architecture for On-Road Autonomous Driving”, IEEE Intelligent Vehicle Symposium (IV), 2017.
- C. Liu, J. Chen, T-D. Nguyen and M. Tomizuka, “The Robustly-Safe Automated Driving System for Enhanced Active Safety”, SAE World Congress, SAE Technical Paper 2017-01-1406, 2017.