Publications

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2021

  • C. Yuan, W. Xu, X. Liu, X. Hong and F. Zhang, Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online3D SLAM. arXiv preprint arXiv:2109.07082. 2021 Sep 15. arXiv Link

  • X. Liu, C. Yuan and F. Zhang, Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras. arXiv preprint arXiv:2109.06550. 2021 Sep 14. arXiv Link

  • J. Lin and F. Zhang, R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package. arXiv preprint arXiv:2109.07982. 2021 Sep 10. arXiv Link

  • W. Xu, Y. Cai, D. He, J. Lin and F. Zhang, Fast-lio2: Fast direct lidar-inertial odometry. arXiv preprint arXiv:2107.06829. 2021 Jul 14. arXiv Link

  • G. Lu, W. Xu and F. Zhang, Model Predictive Control for Trajectory Tracking on Differentiable Manifolds. arXiv preprint arXiv:2106.15233. 2021 Jun 29. arXiv Link

  • W. Xu, D. He, Y. Cai and F. Zhang, Robots state estimation and observability analysis based on statistical motion models. arXiv preprint arXiv:2010.05957. 2020 Oct 12. arXiv Link

  • J. Lin, C. Zheng, W. Xu and F. Zhang, "R2LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7469-7476, Oct. 2021, doi: 10.1109/LRA.2021.3095515. Link

  • C. Yuan, X. Liu, X. Hong and F. Zhang, Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 7517-7524, Oct. 2021, doi: 10.1109/LRA.2021.3098923. Link

  • F. Kong, W. Xu, Y. Cai and F. Zhang, Avoiding Dynamic Small Obstacles With Onboard Sensing and Computation on Aerial Robots, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 7869-7876, Oct. 2021, doi: 10.1109/LRA.2021.3101877. Link

  • W. Xu and F. Zhang, FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 3317-3324, April 2021, doi: 10.1109/LRA.2021.3064227. Link

  • Z. Liu and F. Zhang, BALM: Bundle Adjustment for Lidar Mapping, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 3184-3191, April 2021, doi: 10.1109/LRA.2021.3062815. Link

  • X. Liu and F. Zhang, Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 2036-2043, April 2021, doi: 10.1109/LRA.2021.3061387. Link

  • Z. Liu, F. Zhang and X. Hong, Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning, in IEEE/ASME Transactions on Mechatronics (TMECH), doi: 10.1109/TMECH.2021.3058173. Link

2020

  • Y. Li, Y. Qin, W. Xu and F. Zhang, Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, pp. 1249-1255, doi: 10.1109/AIM43001.2020.9158910. Link

  • M. Zheng, X. Lyu, X. Liang and F. Zhang, A Generalized Design Method for Learning-Based Disturbance Observer, in IEEE/ASME Transactions on Mechatronics (TMECH), vol. 26, no. 1, pp. 45-54, Feb. 2021, doi: 10.1109/TMECH.2020.2999340. Link

  • J. Lin and F. Zhang, Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV, 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 3126-3131, doi: 10.1109/ICRA40945.2020.9197440. Link

  • F. Zhang and M. Zheng, Automatic Kinematic Calibration of Multiaxis Gimbal Systems, in IEEE/ASME Transactions on Mechatronics (TMECH), vol. 25, no. 6, pp. 2858-2869, Dec. 2020, doi: 10.1109/TMECH.2020.2997132. Link

  • J. Lin, X. Liu and F. Zhang, A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 4870-4877, doi: 10.1109/IROS45743.2020.9340790. Link

  • W. Xu and F. Zhang, Learning Pugachevs Cobra Maneuver for Tail-Sitter UAVs Using Acceleration Model, in IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 3452-3459, April 2020, doi: 10.1109/LRA.2020.2976323. Link

  • Y. Qin, W. Xu, A. Lee and F. Zhang, Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications, in IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 3213-3220, April 2020, doi: 10.1109/LRA.2020.2974718. Link

  • Y. Qin, Y. Li, X. Wei and F. Zhang, Hybrid aerial-ground locomotion with a single passive wheel, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 1371-1376, doi: 10.1109/IROS45743.2020.9341577. Link

2019

  • H. Gu, X. Cai, Z. Li, S. Shen, and F. Zhang, Coordinate descent optimization for winged-UAV design, in Journal of Intelligent & Robotic Systems (JINT), pp. 1-6. 2019. Link

  • J. Lin, L. Wang, F. Gao, S. Shen and F. Zhang, Flying through a narrow gap using neural network: an end-to-end planning and control approach, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 3526-3533, doi: 10.1109/IROS40897.2019.8967944. Link

  • W. Gao, J. Lin, F. Zhang and S. Shen, A Screen-Based Method for Automated Camera Intrinsic Calibration on Production Lines, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019, pp. 392-398, doi: 10.1109/COASE.2019.8842956. Link

  • W. Xu, H. Gu, Y. Qing, J. Lin and F. Zhang, Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes, 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 2019, pp. 542-550, doi: 10.1109/ICUAS.2019.8797947. Link

  • K. Hang, X. Lyu, H. Song, J. A. Stork, A. M. Dollar, D. Kragic, and F. Zhang, Perching and resting A paradigm for UAV maneuvering with modularized landing gears, in Science Robotics (SCI ROBOT), vol 4, no. 28, DOI: 10.1126/scirobotics,aau6637, March, 2019, Cover page article. Link

  • G. Lu and F. Zhang, IMU based attitude estimation in the presence of narrow-band noise, in IEEE/ASME Transactions on Mechatronics (TMECH), vol. 24, no. 2, pp. 841-852, January, 2019. Link

  • W. Gao, J. Lin, F. Zhang and S. Shens work on A screen-based method for automated camera intrinsic calibration on production lines is accepted by the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE 2019) for publication. CASE 2019 will be held at Vancouver, Canada from August 22th to 26th.

2018

  • M. Zheng, F. Zhang and Xiao Liang, “A systematic design framework for iterative learning control with current feedback, ” in IFAC Journal of Systems and Control. Link

  • X. Liang, M. Zheng, and F. Zhang, “A scalable model-based learning algorithm with application to UAVs," IEEE Control Systems Letters (L-CSS), vol. 2, no. 4, October, 2018, DOI: 10.1109/LCSYS.2018.2849576. Link

  • X. Lyu, J. Zhou, H. Gu, Z. Li, S. Shen, and F. Zhang, “Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H-infinity synthesis,” in IEEE Robotics and Automation Letter (RA-L), vol. 3, no. 4, pp. 2910-2917, October, 2018. Link , Video

  • F. Zhang and J. Song, “Real time calibration of gyro magnetometer misalignment,” in IEEE Robotics and Automation Letter (RA-L), vol.3, no.2, pp. 849 - 856, January, 2018. Link , Video

  • F. Zhang, “Simultaneous self-calibration of nonorthogonality and nonlinearity of cost-effective multi-axes inertially stabilized gimbal systems, ” in IEEE Robotics and Automation Letter (RA-L), vol. 3, no. 1, pp. 132-139, January, 2018. Link , Video

  • S. Zhou, M. Zheng, F. Zhang and M. Tomizuka, “H-infinity based disturbance observer synthesis for vehicle lateral disturbance rejection,” in 2018 American Control Conference (ACC2018). (To appear)

  • X. Lyu, M. Zheng, and F. Zhang, “H-infinity based disturbance observer design for non-minimum phase systems with application to UAV attitude control,” in 2018 American Control Conference (ACC2018), Invited paper. (To appear)

  • J. Zhou, X. Lyu, X. Cai, Z. Li, S. Shen, and F. Zhang, “Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs,” in International Conference on Unmanned Aircraft Systems (ICUAS), 2018 (To appear)

  • H. Gu, X. Cai, Z. Li, S. Shen, and F. Zhang, “A coordinate descent method for multidisciplinary design optimization of electric-powered winged UAVs,” in International Conference on Unmanned Aircraft Systems (ICUAS), 2018 (To appear)

2017

  • X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang, “A hierarchical control approach for quadrotor tailsitter VTOL UAVs and experimental verification, ” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017. Link , Video

  • J. Zhou, X. Lyu, Z. Li, S. Shen, and F. Zhang, “A unified control method for quadrotor tail-sitter UAVs in all flight modes: hover, transition, and level flight, ” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017. Link , Video

  • Y. Wang, X. Lyu, H. Gu, S. Shen, Z. Li and F. Zhang, “Design, implementation and verification of a quadrotor tail-sitter VTOL UAV,” in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, June 2017, pp. 462-471. Link

  • H. Gu, X. Lyu, Z. Li, S. Shen, and F. Zhang, “Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), ” in International Conference on Unmanned Aircraft Systems (ICUAS), Miami, June 2017, pp. 160-169. Link , Video

  • X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen, and F. Zhang, “Design and implementation of a quadrotor tail-sitter VTOL UAV,” in IEEE International Conferences on Robotics and Automation (ICRA), Singapore, May 2017, pp. 3924–3930. Link , Video

  • F. Zhang, X. Lyu, Y. Wang, H. Gu, and Z. Li, “Modeling and flight control simulation of a quadrotor tailsitter VTOL UAV,” in AIAA Modeling and Simulation Technologies Conference (MST), Grapevine, USA, January 2017, pp. 1561–1573. Link

2015

  • B. Shahsavari, E. Keikha, F. Zhang, and R. Horowitz, “Adaptive repetitive control design with online secondary path modeling and application to bit-pattern media recording,” in IEEE Transactions on Magnetics (T MAGN), vol. 51, no. 4, pp. 1-8, 2015. Link

2014

  • F. Zhang, E. Keikha, B. Shahsavari, and R. Horowitz, “Adaptive mismatch compensation for rate integrating vibratory gyroscopes with improved convergence rate,” in ASME Dynamic Systems and Control Conference (DSCC), American Society of Mechanical Engineerings, San Antonio, USA, October 2014, pp. V003T45A003 - V003T45A011. Link

  • F. Zhang, E. Keikha, R. M. Moore, and R. Horowitz, “The method of averaging using adaptive notch filter in vibratory gyroscopes, ” in International Symposium on Inertial Sensors and Systems (ISISS). IEEE, Laguna Beach, USA, February 2014, pp. 1 - 4. Link

  • F. Zhang, E. Keikha, B. Shahsavari, and R. Horowitz, “Adaptive mismatch compensation for vibratory gyroscopes, ” in International Symposium on Inertial Sensors and Systems (ISISS). IEEE, Laguna Beach, USA, February 2014, pp. 1 - 4. Link

  • B. Shahsavari, E. Keikha, F. Zhang, and R. Horowitz, “Adaptive repetitive control using a modified filtered-x lms algorithm,” in ASME Dynamic Systems and Control Conference (DSCC). American Society of Mechanical Engineers, San Antonio, USA, October 2014, pp. VT001T13A006 -VT001T13A015. Link

  • B. Shahsavari, E. Keikha, F. Zhang, and R. Horowitz, “Repeatable runout following in bit patterned media recording,” in ASME Conference on Information Storage and Processing Systems (ISPS). American Society of Mechanical Engineers, Santa Clara, USA, June 2014, pp. VT001T13A001 -VT001T13A003. Link

2013

  • B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, “Robust track-following controller design for hard disk drives with irregular sampling,” in IEEE Transactions on Magnetics (T MAGN), vol. 49, no. 6, pp. 2798-2804, 2013. Link

  • B. Shahsavari, R. Conway, E. Keikha, F. Zhang, and R. Horowitz, “H-infinity control design for systems with periodic irregular sampling using optimal H_2 reference controllers,” in ASME Conference on Information Storage and Processing Systems (ISPS). American Society of Mechanical Engineers, Palo Alto, USA, October 2013, pp. VT001T13A008 - VT001T13A010. Link