Juncheng Li

李骏承

Robotics & Control Researcher

Education

Ph.D. Candidate in Electrical and Electronic Engineering

Nanyang Technological University, Singapore

2017 - 2021

B.Eng. in Mechanical Engineering

Tsinghua University

2013 - 2017

Additional Link

Introduction

I am currently a Ph.D. Candidate at School of Electrical & Electronics Engineering, Nanyang Technological University (NTU), Singapore, under supervision of Prof. Lihua Xie at Delta-NTU Corporate Laboratory. My research interests include robot motion planning and control, multi-robot motion coordination, and deep reinforcement learning. My project experience includes navigation system design for warehouse automation. Feel free to email me if you are interested in my topic or looking for a robotics expert.

Selected Journal Articles

Efficient Trajectory Planning for Multiple Non-Holonomic Mobile Robots

via Prioritized Trajectory Optimization

Juncheng Li, Maopeng Ran, and Lihua Xie
  • Paper

    IEEE Robotics and Automation Letters, 2021

  • Video

    Design and Experimental Evaluation of a Hierarchical Controller

    for an Autonomous Ground Vehicle with Large Uncertainties

    Juncheng Li*, Maopeng Ran*, and Lihua Xie
  • Paper

    IEEE Transactions on Control Systems Technology, 2021

  • Video

    A Behavior-Based Mobile Robot Navigation Method with

    Deep Reinforcement Learning

    Juncheng Li, Maopeng Ran, Han Wang, and Lihua Xie
  • Paper

    Unmanned Systems, 2021

  • Video

    Reinforcement-Learning-Based Disturbance Rejection Control

    for Uncertain Nonlinear Systems

    Maopeng Ran, Juncheng Li, and Lihua Xie
  • Paper

    IEEE Transactions on Cybernetics, 2021

    A New Extended State Observer for Uncertain Nonlinear Systems

    Maopeng Ran, Juncheng Li, and Lihua Xie
  • Paper

    Automatica, 2021

    Selected Conference Publication

    MPC-Based Unified Trajectory Planning and Tracking Control Approach

    for Automated Guided Vehicles

    Juncheng Li, Maopeng Ran, Han Wang and Lihua Xie
  • Paper

    IEEE International Conference on Control and Automation (ICCA) 2019

  • Video

    Fast Loop Closure Detection via Binary Content

    Han Wang, Juncheng Li, Maopeng Ran, Lihua Xie
  • Paper

    IEEE International Conference on Control and Automation (ICCA) 2019

  • Video

    Active Disturbance Rejection Time-Varying Formation Tracking

    for Unmanned Aerial Vehicles

    Maopeng Ran, Juncheng Li, and Lihua Xie
  • Paper

    IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV) 2020

    Open Source Projects

  • Code

    Efficient Multi-Robot Trajectory Planner

    • An efficient multi-robot trajectory planner that generates safe, dynamically feasible and near-optimal trajectories for non-holonomic mobile robots in obstacle-rich environments.

    Project Experience

    2017 - Now
    In Collabration with Delta Electronics, Taiwan
    This project aims to develop a navigation solution that is adaptable to all types of industry AGVs in manufacturing. The technology consists of mapping and localization in static and dynamic environments, path and trajectory planning and replanning, static and dynamic obstacle avoidance, robust and accurate tracking control, auto-charging and docking, etc. It provides a cost-effective solution that transforms conventional AGVs into smart ones.

    Demos

    AGV Smart Navigation and Precision Docking

    AGV Trasporation with Robot Arm Integration

    MPC-Based Trajectory Planning and Control

    Forklift Autonomous Docking