WAFR 2018 -
Congratulations to Rupesh Chinta and Shuai Han for having their work
"Coordinating the Motion of Labeled Discs with Optimality Guarantees under
Extreme Density" accepted at WAFR!
microMVP V3 - Over the past two years we have been steadily
improving the microMVP platform, now at version 3. It is now more affordable,
robust, complete, and remains fully open. Please see the
for details. Special thanks to our undergrad researcher, Zetao Yu!
IROS 2018 - Congratulations to Shuai Han and
Edgar Rodriguez for having their work "SEAR: A Polynomial-Time Multi-Robot
Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee"
accepted at IROS!
RSS 2018 - Our work titled "Constant-Factor
Time-Optimal Multi-Robot Routing on High-Dimensional Grids"
will appear in the 2018 edition of Robotics: Science
and Systems conference. This study establishes that asymptotically
time-optimal plans can be computed on fully occupied high-dimensional
grids in low polynomial (mostly sub-quadratic) time. There are also
several interesting algorithmic tools that we have developed, for
the derivation of the result, which may be of independent interest. A
preliminary extended version can be found
RA-L and ICRA 2018 - Congratulations to Han and Nick
for having their journal publication titled "Efficient, High-Quality
Stack Rearrangement" accepted by RA-L! The work will also be presented at ICRA.
MRS 2017 - Our initial breakthrough
on constant factor optimal multi-robot path planning titled
"Expected Constant-Factor Optimal Multi-Robot Path Planning in Well-Connected Environments"
has been accepted by The 1st International Symposium on Multi-Robot
and Multi-Agent Systems (MRS 2017).
RSS 2017 - Congratulations to Shuai Han on his
first first author publication at none other than the
Robotics: Science and Systems conference! The paper is a Best Student Paper finalist.
ICRA 2017 -
Our first experimental work, titled "A Portable, 3D-Printing Enabled Multi-Vehicle
Platform for Robotics Research and Education", has been accepted for presentation
at ICRA 2017 in Singapore. This is also the first publication of Shuai Han and
Wei Tang. At ICRA 2017, I will also present new research from our recent Transaction
on Robotics paper on multi-robot path planning.
Code and Binaries -
The algorithms that we developed along with our papers have been made
Source code is provided whenever possible. Some implementations are
provided as binaries due to their legacy statuses.
Short Bio - I am an Assistant Professor
leading the Algorithmic Robotics and Control Lab in the Department of
Computer Science at Rutgers.
Prior to joining Rutgers, I spent two years as
a postdoctoral researcher at MIT CSAIL
with Daniela Rus in the
Distributed Robotics Lab.
The first year of the two-year postdoctoral appointment was joint at
Multirobot Systems Lab.
I obtained my PhD in Electrical and Computer Engineering at the
University of Illinois at Urbana-Champaign
Steven M. LaValle.
After defending my thesis, I stayed briefly at the
Coordinated Science Laboratory
as a postdoctoral researcher working with
Petros G. Voulgaris.
I completed my undergraduate study at the
University of Science and Technology of China.
Prospective Students -
I always look to working with motivated prospective students interested in
fundamental and/or applied research in robotics, control, and optimization.
If you are interested in joining my group, please read some of our recent
papers and let me know if you find them interesting.
Department of Computer Science
110 Frelinghuysen Road