About me

I am a third year undergraduate student from College of Engineering, Peking University. My research interest includes motion planning, optimization theory, multi-agent system and reinforcement learning.

I am very fortunate to join Autonomous Robots Lab and be advised by Prof.Chang Liu since Dec, 2023. I have done a lot of research related to path planning of multiagent system using sampling-based method(dRRT*) and MPC. To improve its generalization, I am now trying to solve this problem by learning-based method.

You can find my CV here:Qinghang Liu’s CV

Most of my research focus on path planning of very-large-scale-multi-agent systems. In macroscopic stage, we describe the positions of robots using a time-varying probability density function and in microscopic control, we use MPC to control the robots to follow the PDF. My algorithm can generate collision-free, energy-saving trajectories for hundreds and thousands of agents between their initial positions and target positions.

Now I am trying to design an RL algorithm to generate better PDF trajectories and make the algorithm more generalized. I have made some progress in constructing a trajectory for Guassian distribution. I will continue this work in the future.