Journal Articles and Book Chapters

J5. Distributed Conflict Resolution for Connected Autonomous Vehicles


Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi, and Masayoshi Tomizuka
submitted to IEEE Transactions on Intelligent Vehicles
Abstract | Preprint | Link


J4. Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification


Changliu Liu, and Masayoshi Tomizuka
in System & Control Letters, vol. 108, pp. 56-63, Oct. 2017
Abstract | Preprint | Link


J3. The convex feasible set algorithm for real time optimization in motion planning


Changliu Liu, Chung-Yen Lin, and Masayoshi Tomizuka
submitted to SIAM Journal on Control and Optimization. arXiv:1709.00627.
Abstract | Preprint | Link


J2. Safe robot navigation among moving and steady obstacles [Bookshelf]


Changliu Liu
in IEEE Control Systems, vol. 37, no. 1, pp. 123-125, Feb. 2017
Abstract | Preprint | Link


J1. Designing the robot behavior for safe human-robot interactions


Changliu Liu, and Masayoshi Tomizuka
in Trends in Control and Decision-Making for Human-Robot Collaboration Systems (Y. Wang and F. Zhang (Eds.)), Springer
Abstract | Preprint | Link


  Refereed Conference Proceedings

C16. Improving efficiency of autonomous vehicles via V2V communication


Changliu Liu, Chung-Wei Lin, Shinichi Shiraishi, and Masayoshi Tomizuka
submitted to American Control Conference, 2018
Abstract | Preprint | Link


C15. FOAD: Fast optimization-based autonomous driving motion planner


Jianyu Chen, Changliu Liu, and Masayoshi Tomizuka
submitted to American Control Conference, 2018
Abstract | Preprint | Link


C14. Real-time collision avoidance algorithm on industrial manipulators


Hsien-Chung Lin, Changliu Liu, Yongxiang Fan, and Masayoshi Tomizuka
IEEE Conference on Control Technology and Applications (CCTA), 2017
Abstract | Preprint | Link


C13. Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments


Changliu Liu, Yizhou Wang, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, 2017
Abstract | Preprint | Poster | Link


C12. Speed profile planning in dynamic environments via temporal optimization


Changliu Liu, Wei Zhan, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, 2017
Abstract | Preprint | Poster | Link


C11. Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving


Wei Zhan, Jianyu Chen, Chin-Yao Chan, Changliu Liu, and Masayoshi Tomizuka
IEEE Intelligent Vehicle Symposium, 2017
Abstract | Preprint | Link


C10. Convex feasible set algorithm for constrained trajectory smoothing


Changliu Liu, Chung-Yen Lin, Yizhou Wang, and Masayoshi Tomizuka
American Control Conference, 2017
Abstract | Preprint | Link


C9. The robustly-safe automated driving system for enhanced active safety


Changliu Liu, Jianyu Chen, Trong-Duy Nguyen, and Masayoshi Tomizuka
SAE World Congress, SAE Technical Paper 2017-01-1406, 2017
Abstract | Preprint | Link


C8. A non-conservatively defensive strategy for urban autonomous driving


Wei Zhan, Changliu Liu, Chin-Yao Chan, and Masayoshi Tomizuka
Intelligent Transportation Systems Conference (ITSC), IEEE, 2016, pp. 459 - 464.
Abstract | Preprint | Link


C7. Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration


Te Tang, Changliu Liu, Wenjie Chen, and Masayoshi Tomizuka
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2016, pp. 2689 - 2696.
Abstract | Preprint | Link


C6. Enabling safe freeway driving for automated vehicles


Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2016, pp. 3461 - 3467.
Abstract | Preprint | Link


C5. Who to blame? Learning and control strategies with information asymmetry


Changliu Liu, Wenlong Zhang and Masayoshi Tomizuka
American Control Conference, IEEE, 2016, pp. 4859 - 4864.
Abstract | Preprint | Link


C4. Algorithmic safety measures for intelligent industrial co-robots


Changliu Liu, and Masayoshi Tomizuka
IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2016, pp. 3095 - 3102.
Abstract | Preprint | Link


C3. Safe exploration: addressing various uncertainty levels in human robot interactions


Changliu Liu, and Masayoshi Tomizuka
American Control Conference, IEEE, 2015, pp. 465 - 470.
Abstract | Preprint | Link


C2. Control in a safe set: addressing safety in human-robot interactions


Changliu Liu, and Masayoshi Tomizuka
Dynamic Systems and Control Conference (DSCC), ASME, 2014, p. V003T42A003. Best Student Paper Finalist.
Abstract | Preprint | Link


C1. Modeling and controller design of cooperative robots in workspace sharing human-robot assembly teams


Changliu Liu, and Masayoshi Tomizuka
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2014, pp. 1386 - 1391.
Abstract | Preprint | Link


  Posters

T2. Robot Safe Interaction Systems for Intelligent Industrial Co-Robots


Changliu Liu, and Masayoshi Tomizuka
Bay Area Robotics Symposium (BARS), Stanford, CA, 2016.


T1. Robot Safe Interaction Systems for Intelligent Industrial Co-Robots


Changliu Liu, and Masayoshi Tomizuka
Bay Area Robotics Symposium (BARS), Berkeley, CA, 2015.


  Patents

P2. System and Method for Planning a Vehicle Path


Yizhou Wang, Changliu Liu, Xiaoying Chen, Chongyu Wang and Kai Ni
U.S. application serial no. 62/382,175, filing date August 31, 2016.


P1. Safely Controlling an Autonomous Entity in Presence of Interlligent Agents


Changliu Liu, and Masayoshi Tomizuka
U.S. application serial no. 62/335,373, filing date May 12, 2016.


© 2017 Changliu Liu. Last Updated: 9-24-2017