Yi's Academic Projects

ICRA 2021: Empathetic Multi-agent Interaction

Human-robot interaction research focusing in two-agent autonomous vehicle negotiating through an uncontrolled intersection utilizing parameter estimation technique and game theory. Paper is acknowledged by IEEE International Conference on Robotics and Automation, 2021.

Multi-robot Task Allocation Algorithm

Task allocation algorithm optimizing the performance in multi-robot systems with simulation implemented with ROS, Gazebo and Mavlink.

Adaptive Control Project

Project includes system identification, plant analysis, adaptive controllers design (PPC, LQG, MRAC, PID switching) for particular specification and modifi-cations (Deadzone, sigma).

Vehicle Lateral Control Project

Modeling of vehicle dynamics and implementation of observer-based controller and analyzed its performance in various situation.

AGV Design and Manufacturing

Hands-on Autonomous Ground Vehicle exterior mechanical design and manufacturing. Product was showcased in 2019 Taipei Computex.

Autonomous Racecar

Autonomous racecar built using NVIDIA TX1, LIDAR, IMU and Webcam. Development includes designing the car frame, power supply and management, higher and lower level controller communications.

CAD designs

CAD projects using various tools including Creo, AutoCAD, Autolisp, SOLIDWORKS to create engineering graphs, animations and 3D modeling of real object.