Curriculum Vitae

Email: 17b904042@stu.hit.edu.cn / hitlb2017@gmail.com

personal statement

I have studied in Harbin Institution of Technology (HIT) since 2013. In 2017, I obtained a Bachelor degree with a major in control science and engineering. Nowadays, I am pursuing a doctor’s degree with research area of heterogeneous robot system dynamic path planning and formation control supervised by Prof. Changhong Wang. During this period, I participated in several research projects of the Ph.D. supervisor. While learning the core task planning and control architecture, I also improved my engineering ability and mastered important tools such as single smart UAV path planning algorithm, C++, Python, Robot Operating System (ROS). Recently, I am enthusiastic about the problems on multi-robot task allocation, path planning and formation control in complex cases like partially observable system and dynamic environment.

English

• PETS-5
• CET-6

Education

• B.S. in Control Science and Engineering, Harbin Institution of Technology, 2013-2017
• Ph.D in Control Science and Engineering, Harbin Institution of Technology, 2017-present

Research Skills

• Interests:
  • UAV, Pixhawk and MAVLink
  • Robot Learning, Reinforcement Learning with safety guarantee
  • motion planning (A*, JPS, RRT, MDP, minimum snap etc.), Optimization
  • formation control with learning and safety guarantee
• Programming Languages:
  • C++, MATLAB, PYTHON
• Tools/ Software:
  • Robot Operating System, Git, TensorFlow, Rviz

Project Experience

• Development of UAV Collaborative cluster system in unknown environment. I am responsible for targets assignment and path planning for UAVs. April 2018- July 2018
• Parrot mini drone path recognition and tracking using Simulink: I am the supervisor of the project and I am responsible for project design and control algorithms. September 2019- November 2019
• Smart UAV landing on moving UGV platform: I am responsible for project design and control algorithms, in cooperation with Zhaozhe Wang. June 2018- March 2019
• Range-limited payload UAV: I am responsible for the system design, especially the dynamic model optimization of the aircraft wing using Profili and designing the CAD model of the Aircraft. September 2014-October 2015

Publications

An Improved Dyna-Q Algorithm for Mobile Robot Path Planning in Unknown Dynamic Environment

M. Pei, H. An, B. Liu and C. Wang, "An Improved Dyna-Q Algorithm for Mobile Robot Path Planning in Unknown Dynamic Environment," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, doi: 10.1109/TSMC.2021.3096935.

Continuous-time Gaussian Process Trajectory Generation for Multi-robot Formation via Probabilistic Inference

S. Guo, B. Liu, S. Zhang, J. Guo and C. Wang, "Continuous-time Gaussian Process Trajectory Generation for Multi-robot Formation via Probabilistic Inference," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9247-9253, doi: 10.1109/IROS51168.2021.9636573.

Social decision-making in a large-scale MultiAgent system considering the influence of empathy

Chen J, Liu B, Zhang D, et al. Social decision-making in a large-scale MultiAgent system considering the influence of empathy[J]. Applied Intelligence, 2023, 53(9): 10068-10095.

Robust Depth-Aided RGBD-Inertial Odometry for Indoor Localization

Zhao X, Li Q, Wang C, Liu B. Robust Depth-Aided RGBD-Inertial Odometry for Indoor Localization[J]. Measurement, 2023, 209: 112487.

Empathy structure in multi-agent system with the mechanism of self-other separation: Design and analysis from a random walk view

Chen J, Liu B, Qu Z, et al. Empathy structure in multi-agent system with the mechanism of self-other separation: Design and analysis from a random walk view[J]. Cognitive Systems Research, 2023, 79: 175-189.

Task Assignment of UAV Swarms Based on Deep Reinforcement Learning

Liu B, Wang S, Li Q, et al. Task Assignment of UAV Swarms Based on Deep Reinforcement Learning[J]. Drones, 2023, 7(5): 297.

Robust Depth-Aided Visual-Inertial-Wheel Odometry for Mobile Robots

Zhao X, Li Q, Wang C, Liu B. Robust Depth-Aided Visual-Inertial-Wheel Odometry for Mobile Robots[J]. IEEE Transactions on Industrial Electronics, 2023.

Fully distributed prescribed-time consensus control of multiagent systems under fixed and switching topologies

Lv J, Wang C, Liu B, et al. Fully distributed prescribed-time consensus control of multiagent systems under fixed and switching topologies[J]. Information Sciences, 2023, 648: 119538.

Talks

Aeromodelling Association of HIT

November 16, 2016

Talk at Moscow State Institute of Steel alloy, Moscow, Russia

Teaching

Teaching Assistant in Motion Planning for Mobile Robotics Course, Shenlanxueyuan

Teaching Assistant in Intelligent Control Course, HIT

Awards

• First class prize of China Aeromodelling Design Challenge 2022 (supervisor)
• Second class prize of China Aeromodelling Design Challenge 2021 (supervisor)
• Winning prize of the Global (China) MathWorks Minidorne Competitions for college students, 2019
• Champion of Intelligent UAV Cluster System Competition (over 50 teams participated), 2018 (Team Leader)
• Outstanding Graduate of Harbin Institute of Technology, 2017
• Merit Student of Heilongjiang Province, 2016
• Yu Menglun science innovation scholarship, 2015,2014
• Bronze medal of Heilongjiang Province in entrepreneurship, 2015
• Second class prize of China Aeromodelling Design Challenge 2015 (Team Leader)
• Third class prize of China Aeromodelling Design Challenge 2014

Hobbies

• Model Airplane
• Marathon (PB for Half-Marathons: 1hours and 55minutes)
• Table-tennis and tennis