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Distributed Potential ILQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions

Published in IEEE ICRA, 2023

In this work, we developed a scalable trajectory optimization algorithm that enables robots to interact with multiple humans and robots.

Recommended citation: Williams, Z., Chen, J. and Mehr, N., 2023. Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions. https://ieeexplore.ieee.org/document/10161176

AE 311 Incompressible Flow

Undergraduate Hourly Grader, University of Illinois at Urbana Champaign, Aerospace Engineering, 2021

Graded homework assignments.

AE 353 Aerospace Control Systems

Undergraduate Course assistant, University of Illinois at Urbana Champaign, Aerospace Engineering, 2022

Provided feedback for invidivual projects from students that were focused on state-space control design.

AE 460 Aerodynamics and Combustion Lab

Teaching Assistant, University of Illinois at Urbana Champaign, Aerospace Engineering, 2023

Help students conduct wind tunnel experiments to study the aerodynamic properties of airflow.