Jingyi HUANG

Research Assistant at ECPKn (école Centrale de Pékin), Beihang University (Hangzhou Campus)

I am currently working under the guidance of Assoc. Prof. Liang HAN. I received my Master's degree from Beihang University in June 2024.

My research includes formation control of Unmanned Aerial Vehicles (UAVs), path planning problems, and artificial intelligence applications in UAVs' decision-making and planning.

📄 Curriculum Vitae

News

Jun. 2024 — Graduated from Beihang University with a Master's degree.

Jan. 2024 — Started working as a Research Assistant at Beihang University (Hangzhou Campus).

Oct. 2022 — Paper accepted to China Automation Conference (CAC).

Experience

Research Assistant Jan. 2026 – Present
Beihang University (Hangzhou Campus)·Hangzhou, China·Multi-agents formation control, AI in robotics, simulation development
Master Student Sep. 2020 – Jun. 2024
Beihang University·Beijing, China·Multi-agents formation control, AI in robotics, simulation development
Exchange Student Sep. 2019 – Jan. 2020
INSA Toulouse·Toulouse, France·IMACS — analog/digital electronics, real-time control, material informatics
Undergraduate Student Sep. 2016 – Jun. 2020
Beihang University·Beijing, China·Algebra, geometry, mathematical analysis, Newtonian mechanics, automatic control

Research

Path Planning Method Using Dyna-Q Algorithm under Complex Urban Environment

Jingyi HUANG, Qingke TAN, Jiming MA*, Liang HAN

China Automation Conference (CAC'22), Oct. 2022

Dyna-Q Path Planning UGV RL

[paper]

Dyna-Q reinforcement learning for obstacle avoidance and path planning of UGV in urban environments, with air-ground collaboration via PID-controlled UAV.

Abstract

Path planning and obstacle avoidance problems are now the focus of robotics research. This paper uses the Dyna-Q reinforcement learning algorithm to implement an obstacle avoidance and a path planning algorithm for unmanned ground vehicle (UGV) under urban environment. Using the reinforcement learning algorithm, we calculate the waypoints of the unmanned vehicle and achieve obstacle avoidance tasks and path planning using a vector field. Finally, we use a PID controller on unmanned aerial vehicle (UAV) to realize the air-ground collaboration task. The algorithms and the agents' modeling in this paper are implemented in the lab's simulation platform.

Projects

Challenge Cup — Multi-Agent Decision Control Apr. – Sep. 2023

Multi-agent decision control model for regional information gathering. Grand Prize (特等奖). Responsible for obstacle avoidance (APF → A*), path planning, and convex hull utilities. [detail] [paper]

Research Class (TA) Nov. 2023

Course for sophomores on UAV/UGV planning and control using DJI RoboMaster TT/EP and lab simulation platform (Potato-mini). [detail]

PID Course (TA) Mar. 2023

Hands-on PID controller demo on simulation platform for undergraduates. [detail]

Potato Platform Sep. 2022

Large-scale heterogeneous swarm simulation platform (MOST project). Developed ground vehicle dynamics, path follower, and PID autopilot. [detail] [paper]

Simulation / Optimization Nov. 2023

Neural network for classification from scratch (Python/NumPy) with SGD and Newton's method. [detail] [code]

Talks

Literature sharing at group meetings — papers and methods I found worth discussing.

Literature Sharing May 2023
A self-rotating, single-actuated UAV with extended sensor FOV for autonomous navigation, Science Robotics, 2023 [slides]
Literature Sharing Dec. 2022
A Survey on Large-Population Systems and Scalable MARL, arXiv, 2022 [slides]
Literature Sharing May 2022
Trajectory Planning for Autonomous Vehicles Using Hierarchical RL, ITSC, 2021 [slides]
Literature Sharing Nov. 2021
Fractal Trajectories for Online Non-Uniform Aerial Coverage, ICRA, 2015 [slides]

Misc.

Badminton has been a longstanding interest of mine. I am also an avid reader of economics and social sciences literature, and I am proficient in English and French. I have had the opportunity to travel extensively across Europe, visiting France, Germany, Spain, Belgium, Italy, Switzerland, and Malta.

My travels have inspired my passion for photography. I am drawn to capturing the essence of diverse places, people, and moments through my lens. For additional works, please visit my Instagram account.

Visit my Gallery to see a selection of my photographic work.