已投稿论文(Submitted Papers)

  1. P. Shen, X. Zhang*, and Y. Fang, Real-time acceleration-continuous path-constrained trajectory planning with built-in tradability between cruise and time-optimal motions, IEEE Transactions on Automation Science and Engineering, in revision.
  2. F. Jiang, X. Zhang*, X. Chen, Y. Fang. Distributed optimization of visual sensor networks for coverage of a large-scale 3-D scene, IEEE/ASME Transactions on Mechatronics,  in revision.

国际期刊(International Journals)

  1. J. Wen, X. Zhang*, H. Gao, J. Yuan, Y. Fang, CAE-RLSM: consistent and efficient redundant line segment merging for online feature map building, IEEE Transactions on Instrumentation and Measurement, accepted.
  2. M. Zhao, X. Guo*, X. Zhang,  Y. Fang, Y. Ou. ASPW-DRL: assembly sequence planning for workpieces via a deep reinforcement learning approacheces, Assembly Automation, accepted.
  3. H. Gao, X. Zhang*, J. Yuan, J. Song, Y. Fang, A novel global localization approach based on structural unit encoding and multiple hypothesis tracking, IEEE Transactions on Instrumentation and Measurement, 2019, 68(11): 4427-4442.
  4. H. Gao, X. Zhang*, J. Wen, J. Yuan, Y. Fang, Autonomous indoor exploration via graph-based SLAM using directional endpoint features and polygon map constructionIEEE Transactions on Automation Science and Engineering, 2019, 16(4): 1531-1542.
  5. X. Zhang, R. Wang, Y. Fang, B. Li, and B. Ma, Acceleration-level pseudo-dynamic visual servoing of mobile robots with backstepping and dynamic surface control, IEEE Transactions  on Systems, Man and Cybernetics: Systems, 2019, 49(10): 2071-2081.
  6. X. Zhang, J. Wang, Y. Fang, H. Gao, J. Yuan, Multilevel humanlike motion planning for mobile robots in complex indoor environments, IEEE Transactions on Automation Science and Engineering, 2019, 16(3): 1244-1258.
  7. B. Li, X. Zhang*, Y. Fang, W. Shi,  Visual servoing of wheeled mobile robots without desired imagesIEEE Transactions on Cybernetics, 2019, 49(8): 2835-2844.
  8. P. Shen, X. Zhang*, and Y. Fang, Tree-search-based any-time time-optimal path-constrained trajectory planning with inadmissible islands constraints,  IEEE Access, 2019, 7:1040-1051.
  9. X. Zhang*, X. Chen, F. Farzadpour, and Y. Fang, A visual distance approach for multi-camera deployment with coverage optimization, IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1007-1018
  10. P. Shen, X. Zhang*, and Y. Fang, Complete and time-optimal path-constrained trajectory planning with torque and velocity constraints: theory and applications, IEEE/ASME Transactions on Mechatronics, 2018, 23(2): 735-746.
  11. B. Li, X. Zhang*, Y. Fang, W. Shi, Visual servo regulation of wheeled mobile robots with simultaneous depth identification, IEEE Transactions  on Industrial Electronics, 2018, 65(1): 460-469.
  12. P. Shen, X. Zhang*, Y. Fang, Essential properties of numerical integration for time-optimal path-constrained trajectory planning, IEEE Robotics and Automation Letters (RAL with ICRA option), 2017, 2(2): 888-895.  arXiv:1610.02881.
  13. X. Zhang, Y. Fang, B. Li, J. Wang, Visual servoing of nonholonomic mobile robots with uncalibrated camera-to-robot parameters, IEEE Transactions on Industrial Electronics, 2017, 64(1): 390-400.
  14. X. Zhang, X. Chen, J. Alarcon, Y. Fang, 3-D model-based multi-camera deployment: a recursive convex optimization approach, IEEE/ASME Transactions on Mechatronics, 2015, 20(6): 3157-3169.
  15. Z. Zhao, X. Zhang*, Y. Fang. Stacked multilayer self-organizing map for background modeling, IEEE Transactions on Image Processing, 2015, 24(9): 2841-2850.[Project Homepage][Source code]
  16. X. Zhang, Y. Fang, N. Sun. Visual servoing of mobile robots for posture stabilization: from theory to experiments. International Journal of Robust and Nonlinear Control, 2015, 25(1): 1-15.
  17. X. Zhang, Y. Fang, N. Sun. Minimum-time trajectory planning for underactuated overhead crane systems with state and control constraints. IEEE Transactions on Industrial Electronics, 2014, 61(12): 6915-6925.
  18. X. Zhang, Y. Fang, X. Liu. Motion-estimation-based visual servoing of nonholonomic mobile robots. IEEE Transactions on Robotics (T-RO), 2011, 27(6): 1167-1175.
  19. X. Zhang, Y. Fang, Y. Zhang. Discrete-time control of chained non-holonomic systems. IET Control Theory and Applications, 2011, 5(4): 640-646.
  20. B. Zhang, X. Zhang*, X. Chen, Y. Fang. Coverage Optimization of Visual Sensor Networks: Survey and Comparison,  International Journal of Intelligent Robotics and Applications, Springer, accepted.
  21. H. Gao, X. Zhang*, Y. Fang, J. Yuan, A line segment extraction algorithm using laser data based on seeded region growing, Int. Journal of Advanced Robotic Systems, 2018, 15(1): 1729881418755245.
  22. X. Zhang, C. Wang, Y. Fang, H. Lu, X. Chen, Global homography calibration for monocular vision-based pose measurement of mobile robotsInternational Journal of Intelligent Robotics and Applications, Springer, 2017, 1(4): 372-382.
  23. J. Yuan, J. Cai, X. Zhang, Q. Sun, F. Sun, W. Zhu, Fusing skeleton recognition with face-TLD for human following of mobile service robots, IEEE Transactions  on Systems, Man and Cybernetics: Systems, Online DOI: 10.1109/TSMC.2019.2921974.
  24. X.T. Zhang, Y. Fang, X. Zhang, J. Jiang, X. Chen, A novel geometric hierarchical approach for dynamic visual servoing of quadrotors, IEEE Transactions on Industrial Electronics, Online DOI: 10.1109/TIE.2019.2917420.
  25. Y. Qiu, B. Li, W. Shi, X. Zhang, Visual Servo Tracking of Wheeled Mobile Robots with Unknown Extrinsic ParametersIEEE Transactions on Industrial Electronics, online DOI: 10.1109/TIE.2019.2891407.
  26. Q. Sun, J. Yuan, X. Zhang, F. Sun, RGB-D SLAM in Indoor Environments with STING-Based Plane Feature Extraction, IEEE Transactions on Mechatronics, 2018, 23(3): 1071-1082.
  27. Q. Lu, L. Yu, D. Zhang, X. Zhang. Simultaneous tracking and regulation visual servoing of wheeled mobile robots with uncalibrated extrinsic parameters. International Journal of Systems Science, 2018, 49(1): 217-229.
  28. Ke, Z. Li, H. Xiao, X. Zhang. Visual servoing of constrained mobile robots based on model predictive control, IEEE Transactions on Systems, Man and Cybernetics: Systems, 2017, 47(7): 1428-1438.
  29. H. Lu, Y. Fang, X. Ren, X. Zhang. Improved direct inverse tracking control of a piezoelectric tube scanner for high-speed AFM imaging, Mechatronics, 2015, 31: 189-195.
  30. B. Li, Y. Fang, X. Zhang. Visual servo regulation of wheeled mobile robots with an uncalibrated onboard camera, IEEE/ASME Transactions on Mechatronics, 2015, 21(5): 2330-2342.
  31. B. Li, Y. Fang, G. Hu, and X. Zhang, Model-free unified tracking and regulation visual servoing of wheeled mobile robots, IEEE Transactions on Control System Technology, 2016, 24(4): 1328-1339.
  32. B. Li, Y. Fang, X. Zhang. Essential-matrix-based visual servoing of mobile robots without short baseline degeneration, International Journal of Robotics and Automation, 2015, 30(4).
  33. N. Sun, Y. Fang, and X. Zhang, Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs, Automatica, 2013, 49(5): 1318-1325.
  34. N. Sun, Y. Fang, X. Zhang, and Y. Yuan, Transportation task-oriented trajectory planning for underactuated overhead cranes using geometric analysis, IET Control Theory and Applications, vol. 6, no. 10, pp. 1410-1423, Jul. 2012.
  35. N. Sun, Y. Fang, and X. Zhang, An increased coupling-based control method for underactuated crane systems: Theoretical design and experimental implementation, Nonlinear Dynamics, vol. 70, no. 2, pp. 1135-1146, 2012.
  36. Y. Fang, B. Ma, P. Wang, X. Zhang. A Motion Planning Based Adaptive Control Method for an Overhead Crane System. IEEE Transactions on Control Systems Technology (T-CST), 2012, 20(1): 241-248.
  37. Y. Fang, X. Liu, X. Zhang. Adaptive Active Visual Servoing of Nonholonomic Mobile Robots. IEEE Transactions on Industrial Electronics (T-IE), 2012, 59(1): 486-497.

国内期刊(Domestic Journals)

  1. 张一淳,张雪波*,方勇纯,沈佩尧. 基于万向轮的全方位移动机器人航位推算与跟踪控制研究. 机器人, 37, No. 3, pp. 361-368, 2015.
    Y. Zhang, X. Zhang, Y. Fang. Dead Reckoning and Tracking Control of Omnidirectional Mobile Robots with Active Caster Wheels, Robot, 2015, 37(3): 361-368。
  2. 张雪波, 路晗, 方勇纯,李宝全. 室外环境下PTZ摄像机全自动标定技术及其应用[J]. 机器人, 2013, 35(4): 385-393. (期刊网站首页图片新闻推荐阅读)。[实验录像]
    X. Zhang, H. Lu, FANG Yongchun etc. An Automatic Calibration Method for Outdoor PTZ Cameras and Its Applications[J]. ROBOT, 2013, 35(4): 385-393.
  3. 张雪波, 方勇纯, 刘玺. 移动机器人自适应视觉伺服镇定控制. 控制理论与应用, 2010, 27(9): 1123-1130.
  4. 张雪波,方勇纯,马博军. 基于单应矩阵的摄像机标定方法及应用. 控制工程, 2010, 17(2): 248-251.
  5. Zhang X, Fang Y, Ma B. A PFM-Based Global Convergence Visual Servo Path Planner. Acta Automatica Sinica (自动化学报), 2008, 34(10): 1250-1256.
  6. 董星亮, 苑晶*, 黄枢子, 杨少坤,张雪波, 孙凤池, 黄亚楼. “室内环境下基于平面与线段特征的RGB-D视觉里程计”, 机器人, 2018, DOI:10.13973/j.cnki.robot.170621.
  7. 董星亮, 苑晶*, 张雪波, 黄亚楼. 室内环境下基于图像序列拓扑关系的移动机器人全局定位, 机器人,  2018.
  8. 李宝全,方勇纯,张雪波. 基于2D三焦点张量的移动机器人视觉伺服镇定控制. 自动化学报,2014, 40(12): 2714-2723.
  9. 辛哲奎, 方勇纯, 张雪波. 小型无人机地面跟踪系统机载云台自适应跟踪控制. 控制理论与应用, 2010, 27(8): 1001-1006.
  10. 苑英海, 方勇纯, 张雪波. 基于全局代价函数优化的立体标定方法. 仪器仪表学报, 2011, 32(10): 2228-2234.

国际会议(International Conferences)

  1. P. Shen, X. Zhang*, Y. Fang, Essential properties of numerical integration for time-optimal trajectory planning along a specified path, IEEE Robotics and Automation Letters (RAL with ICRA option), 2017, accepted,  arXiv:1610.02881.
  2. B. Zhang, X. Zhang*, X. Chen, and Y. Fang, A differential evolution approach for coverage optimization of visual sensor networks with parallel occlusion detection, The 2016 IEEE International Conference on Advanced Intelligent Mechatronics, 2016.07, Banff, pp. 1246-1251.
  3. X. T. Zhang, Y. Fang, X. Liang, X. Zhang, Geometric adaptive dynamic visual servoing of a quadrotor UAV, Proc. of 2016 IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Canada, 2016, pp. 312-317.
  4. X. Zhang, R. Xue, Y. Yang, L. Cheng, Y. Fang, Learning time-optimal anti-swing trajectories for overhead crane systems, The 13th International Symposium on Neural Networks, 2016. 07, pp.338-345.
  5. X. Zhang, X. Chen, X. Liang, Y. Fang. Distributed coverage optimization for deployment of directional sensor networks, IEEE Conference on Decision and Control, 2015, Osaka, Japan, pp. 246-251.
  6. P. Shen, Y. Fang, X. Zhang, Trajectory planning of omnidirectional mobile robots with active casters: multi-motor coordination and singularity avoidance, Proc. of 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Shenyang, China, Jun. 2015, pp. 151-156.
  7. X. Zhang, J. Alarcon, X. Chen*, Coverage enhancement for deployment of multi-camera networks, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2015, Busan, South Korea, 909-914.
  8. B. Li, Y. Fang, X. Zhang. Projection homography based uncalibrated visual servoing of wheeled mobile robots, Proc. of IEEE Conference on Decision and Control (CDC), Los Angeles, USA, 2014, 2167 – 2172.
  9. X. Zhang, C. Wang, Y. Fang, K. Xing. Planar motion estimation from three-dimensional scenes, Proceedings of the 2014 IROS Workshop on Visual Control of Mobile Robots, Chicago, 2014, pp. 21-26.
  10. Y. Huang, X. Zhang*, Y. Fang. Vision-based minimum-time planning of mobile robots with kinematic and visibility constraints. Proc. of the 19th IFAC World Congress, Cape Town, South Africa, 2014, pp. 11878-11883.
  11. X. Zhang, J. Alarcon, X. Chen. Optimization for 3D Model-based Multi-Camera Deployment. Proc. of the 19th IFAC World Congress, Cape Town, South Africa, 2014, pp. 10127-10131.
  12. X. Zhang, Y. Li, Y. Fang. Implicit feedback stabilizer-based explicit trajectory planning of mobile robots with kinematic constraints, Proc. of 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, 4600-4605.
  13. C. Chen, Y. He, C. Bu, J. Han, X. Zhang, Quartic Bezier curve based trajectory generation for autonomous vehicles with curvature and velocity constraints, Proc. of 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, 6108-6113.
  14. J. Alarcon-Herrera, X. Chen, X. Zhang, Viewpoint selection for vision systems in industrial inspection, Proc. of 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, 4934-4939.
  15. B. Li, Y. Fang, X. Zhang. Uncalibrated visual servoing of nonholonomic mobile robots, Proc. of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, 584-589.
  16. W. He, Y. Fang, X. Zhang. Prediction-based Interception Control Strategy Design with a Specified Approach Angle Constraint for Wheeled Service Robots, Proc. of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013, 2725-2730.
  17. X. Zhang, Y. Fang. Set-oriented optimal path planning of mobile robots by a polynomial rootfinder. Proc. of 2013 IEEE Multi-conference on Systems and Control (CCA), Hyderabad, India, 2013.08, pp. 778-783.
  18. Z. Zhao, T. Bouwmans, X. Zhang*, Y. Fang. A fuzzy background modeling approach for motion detection in dynamic backgrounds. International Conference on Multimedia and Signal Processing (CMSP2012), pp. 177-185, 2012. (Acceptance ratio: 24.08%)
  19. X. Zhang, Y. Fang, X. Liu. Visual servoing of nonholonomic mobile robots based on a new motion estimation technique. Proceedings of IEEE Conference on Decision and Control (CDC), Shanghai, 2009, 8428-8433.