Publications
Selected papers, workshops, patents, and thesis. Full citation metrics are onGoogle Scholar.
Conferences & journals
Optimal Vehicle Trajectory Planning for Static Obstacle Avoidance using Nonlinear Optimization
arXiv preprint arXiv:2307.09466 · 2023
Optimal Vehicle Path Planning Using Quadratic Optimization for Baidu Apollo Open Platform
IEEE Intelligent Vehicles Symposium (IV), Las Vegas, USA · 2020
Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios
IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand · 2019
Robust Ladder-Climbing with a Humanoid Robot with Application to the DARPA Robotics Challenge
IEEE Int'l Conference on Robotics and Automation (ICRA), Hong Kong, China · 2014
Motion Planning and Control of Ladder Climbing on DRC-Hubo for DARPA Robotics Challenge
IEEE Int'l Conference on Robotics and Automation (ICRA), Hong Kong, China [Video submission] · 2014
Unbiased, Scalable Sampling of Protein Loop Conformations from Probabilistic Priors
BMC Structural Biology 13(Suppl. 1):S9 · 2013
Motion Planning of Ladder Climbing for Humanoid Robots
IEEE Int'l Conference on Technologies for Practical Robot Applications (TePRA), Boston, MA, USA · 2013
Unbiased, Scalable Sampling of Closed Kinematic Chains
IEEE Int'l Conference on Robotics and Automation (ICRA), Karlsruhe, Germany · 2013
Minimizing Driver Interference under a Probabilistic Safety Constraint in Emergency Collision Avoidance Systems
IEEE Intelligent Transportation Systems Conference (ITSC), Anchorage, AK, USA · 2012
Sampling-based Motion Planning with Dynamic Intermediate State Objectives: Application to Throwing
IEEE Int'l Conference on Robotics and Automation (ICRA), St. Paul, MN, USA · 2012
Workshops
Planning-Aided Robot Design: Unified Optimization of Form, Physics, and Motion
ICRA Workshop on Task-based Optimal Design of Robots, Hong Kong, China · 2014
Planner-aided Design of Ladder Climbing Capabilities for a DARPA Robotics Challenge Humanoid
ICRA Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids, Karlsruhe, Germany · 2013
Unbiased, Scalable Sampling of Constrained Kinematic Loops
BIBM Workshop on Computational Structural Bioinformatics, Philadelphia, PA, USA · 2012
Semiautonomous Longitudinal Collision Avoidance Using a Probabilistic Decision Threshold
IROS Workshop on Perception and Navigation for Autonomous Vehicles in Human Environments, San Francisco, CA, USA · 2011
Driver Interference and Risk in Semi-autonomous Braking Under Uncertainty
Intl. Workshop on Collaborative Robots and Human Robot Interaction, Philadelphia, PA, USA · 2011
Patents
Method for generating prediction trajectories of obstacles for autonomous driving vehicles
US Patent 11,378,961 · 2022
Method and system for generating reference lines for autonomous driving vehicles using multiple threads
US Patent 11,360,482 · 2022
Planning parking trajectory generation for self-driving vehicles using optimization method
US Patent 11,117,569 · 2021
Method to evaluate trajectory candidates for autonomous driving vehicles (ADVs)
US Patent 10,996,679 · 2021
Method for generating trajectories for autonomous driving vehicles (ADVs)
US Patent 10,884,422 · 2021
Method and system for stitching planning trajectories from consecutive planning cycles for smooth control execution of autonomous driving vehicles
US Patent 10,908,608 · 2021
Path optimization based on constrained smoothing spline for autonomous driving vehicles
US Patent 10,571,921 · 2020
Speed optimization based on constrained smoothing spline for autonomous driving vehicles
US Patent 10,606,277 · 2020
Smooth road reference for autonomous driving vehicles based on 2D constrained smoothing spline
US Patent 10,591,926 · 2020
Speed control and steering control assistant based on pitch status and roll status of autonomous driving vehicle
US Patent 10,569,651 · 2020
Method for generating a reference line by stitching multiple reference lines together using multiple threads
US Patent 10,732,632 · 2020
Non-linear reference line optimization method using piecewise quintic polynomial spiral paths for operating autonomous driving vehicles
US Patent 10,429,849 · 2019
Thesis
Knowledge Driven Motion Planning
Ph.D. thesis, Indiana University Bloomington (Advisor: Kris Hauser) · 2015