Jiangnan Huang

- Reviewed literature on the topic of 2D LiDAR-based lifelong mapping. - Formulated a generic theoretical framework from three aspects. - Implemented the framework based on Cartographer and ROS 2. - Validated and evaluated the performance in simulation, optimized parameters.

- Prepared homework and was responsible for forum Q&A.

- Extended navigation software for mobile manipulator. - Extended DevOps infrastructure for mobile manipulator. - Fixed Bugs. - Collaborated in the agile SW development team (Scrum).

- Prepared homework and was responsible for forum Q&A.

- Reviewed literature of learning approaches for motion planning and planning problem formulation as inference. - Formulated a theoretical framework to solve motion planning problem on factor graph neural network.

- Installed a physical three-tank model and took relevant measurements. - Modelled the three-tank system mathematically and designed an optimal controller to control liquid level. - Designed an extended Kalman filter to eliminate noise. - Implemented both in simulation and deployed in the physical model. - Optimized parameters, evaluated control performance, analyzed error.