Qi Heng Ho

Qi Heng Ho

Robotics Researcher

University of Colorado Boulder

ARIA Systems Lab

Autonomous Decision and Control Lab


I am a PhD Student in aerospace engineering sciences at the University of Colorado Boulder. I am advised by Morteza Lahijanian and Zachary Sunberg. My research interests lie at the intersection of formal methods and planning under uncertainty. My goal is to enable safety-critical autonomous robotic systems under uncertainty to complete complex temporal tasks while providing explicit guarantees on their safety and operatonal properties.

  • Planning Under Uncertainty
  • Formal Methods
  • Robotics
  • (Hybrid) Systems and Control
  • PhD in Aerospace Engineering Sciences (Autonomous Systems)

    University of Colorado Boulder

  • M.S. in Aerospace Engineering Sciences (Autonomous Systems), 2023

    University of Colorado Boulder

  • B.Eng in Mechanical Engineering, 2019

    National University of Singapore


Graduate Research Assistant
University of Colorado Boulder
August 2020 – Present
Research Engineer (Autonomous Vehicles)
June 2018 – August 2020 Singapore


Constrained POMDPs
Temporal logic motion planning under motion and measurement uncertainty uncertainty
Sampling-based Gaussian Belief Trees for Chance Constrained Motion Planning under uncertainty
Sampling-based Motion Planning Tree Search for Gaussian POMDPs

Selected Publications

(2024). Sampling-based Reactive Synthesis for Nondeterministic Hybrid Systems. Robotics and Automation Letters (RA-L) 2024.

(2023). Recursively-Constrained Partially Observable Markov Decision Processes. (Under Review).

(2023). Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides. 2023 IEEE International Conference on Robotics and Automation (ICRA).

Cite DOI

(2022). Automaton-Guided Control Synthesis for Signal Temporal Logic Specifications. 2022 IEEE 61st Conference on Decision and Control (CDC).


(2022). Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning. 2022 IEEE International Conference on Robotics and Automation (ICRA).