Dr. Weijia Yao - Publications

Monograph

1. W. Yao, “Guiding Vector Fields for Robot Motion Control,” ser. Springer Tracts in Advanced Robotics, STAR. Springer Cham, 2023, vol. 154, isbn: 978-3-031-29151-7. [Link]

Journals

1. B. Hu, H. Zhang, W. Yao, Z. Sun and M. Cao, “Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation,” IEEE Transactions on Automatic Control (TAC), 2024, [PDF]

2. B. Hu, W. Yao, H. Wei C. Lv, “FSOC: Flexible Subgrouping and Ordering of Multi-Robot Coordination for Convoying Multiple Scattered Targets,” IEEE Transactions on Control of Network Systems (TCNS), conditionally accepted, 2024.

3. Y. Lu, X. Zhang, X. Xu, W. Yao, “Learning-based Near-optimal Motion Planning for Intelligent Vehicles with Uncertain Dynamics,” IEEE Robotics & Automation Letter (RAL), 2023, [PDF]

4. B. Hu, H. Zhang, W. Yao, J. Ding and M. Cao, “Spontaneous-Ordering Platoon Control for Multirobot Path Navigation Using Guiding Vector Fields,” IEEE Transactions on Robotics (TRO), 2023, [PDF]

5. W. Yao, B. Lin, Brian D. O. Anderson and M. Cao, “The domain of attraction of the desired path in vector-field guided path following,” IEEE Transactions on Automatic Control (TAC), 2023, [PDF].

6. S. Wang, W. Yao, M. Cao and X. chen, “Evolutionary dynamics under periodic switching of update rules in structured populations,” IEEE Transactions on Network Science and Engineering (TNSE), 2023, [PDF].

7. W. Yao, H. G. de Marina, Z. Sun, and M. Cao, “Guiding vector fields for the distributed motion coordination of mobile robots,” IEEE Transactions on Robotics (TRO), 2022, [PDF]

8. Z. Zhou, Z. Zeng, L. Lang, W. Yao, H. Lu, Z. Zheng, and Z. Zhou, “Navigating Robots in Dynamic Environment with Deep Reinforcement Learning,” IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2022, [PDF].

9. W. Yao, B. Lin, Brian D. O. Anderson and M. Cao, “Topological Analysis of Vector-Field Guided Path Following on Manifolds,” IEEE Transactions on Automatic Control (TAC), 2022, [PDF].

10. W. Yao, B. Lin, Brian D. O. Anderson and M. Cao, “Guiding Vector Fields for Following Occluded Paths,” IEEE Transactions on Automatic Control (TAC), 2022, [PDF].

11. B. Lin, W. Yao, and M. Cao, “On Wilson's theorem about domains of attraction and tubular neighborhoods,” Systems & Control Letters (SCL), 2022, [PDF].

12. W. Yao, H. G. de Marina, B. Lin and M. Cao, “Singularity-free guiding vector field for robot navigation,” IEEE Transactions on Robotics (TRO), pp. 1206–1221, vol. 37, no. 4, 2021, [PDF][Video][Code].

13. W. Yao and M. Cao, “Path following control in 3D using a vector field,” Automatica, pp. 108957, vol. 117, 2020, [PDF]

14. L. Gong, W. Yao, J. Gao and M. Cao, “Limit Cycles Analysis and Control of Evolutionary Game Dynamics with Environmental Feedback,” Automatica, 2022, [PDF].

15. H. Lu, W. Yao and L. Chen, “Distributed Multi-robot Circumnavigation with Dynamic Spacing and Time Delay,” Journal of Intelligent & Robotic Systems (JINT), pp. 165–182, vol. 99, no. 1, 2020, [PDF].

16. W. Yao, H. Lu, Z. Zeng, J. Xiao and Z. Zheng, “Distributed static and dynamic circumnavigation control with arbitrary spacings for a heterogeneous multi-robot system,” Journal of Intelligent & Robotic Systems (JINT), pp. 883–905, vol. 94, no. 3, 2019, [PDF].

Conferences

1. I. Gushkov, A. Orucevic, K. Y. Pettersen, W. Yao, J. T. Gravdahi, “Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots,” in IEEE Conference on Control Technology and Applications (CCTA), 2023, [PDF].

2. W. Yao, B. Lin, Brian D. O. Anderson and M. Cao, “Refining dichotomy convergence in vector-field guided path following control,” in European Control Conference (ECC), 2021, [PDF][Slides].

3. W. Yao, H. G. de Marina, Z. Sun and M. Cao, “Distributed coordinated path following using guiding vector fields,” in IEEE International Conference on Robotics and Automation (ICRA), 2021, Best Conference Paper Award Finalist [PDF][Slides][Talk].

4. H. G. de Marina, J. J. Castellanos and W. Yao, “Leaderless collective motions in affine formation control,” in 2021 60th IEEE Conference on Decision and Control (CDC), 2021, [PDF].

5. W. Yao, H. G. de Marina and M. Cao, “Vector field guided path following control: Singularity elimination and global convergence,” in 2020 59th IEEE Conference on Decision and Control (CDC), 2020, [PDF][Slides][Video][Code].

6. L. Gong, W. Yao, J. Gao and M. Cao, “Limit Cycles in Replicator-Mutator Dynamics with Game-Environment Feedback,” in 21st IFAC World Congress, 2020, [PDF]

7. W. Yao, B. Lin and M. Cao, “Integrated Path Following and Collision Avoidance Using a Composite Vector Field,” in 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, [PDF][Slides][Video].

8. W. Yao, Y. A. Kapitanyuk and M. Cao, “Robotic Path Following in 3D Using a Guiding Vector Field,” in 2018 57th IEEE Conference on Decision and Control (CDC), 2018, [PDF] [Slides].

9. Z. Zhou, W. Yao, J. Ma, H. Lu, J. Xiao and Z. Zheng, “Simatch: A simulation system for highly dynamic confrontations between multi-robot systems,” in 2018 Chinese Automation Congress (CAC), 2018, [PDF].

10. J. Ma, W. Yao, W. Dai, H. Lu, J. Xiao and Z. Zheng, “Cooperative encirclement control for a group of targets by decentralized robots with collision avoidance,” in 2018 37th Chinese Control Conference (CCC), 2018, [PDF].

11. W. Yao, S. Luo, H. Lu and J. Xiao, “Distributed circumnavigation control with dynamic spacing for a heterogeneous multi-robot system,” in Robot World Cup, 2018, [PDF].

12. W. Yao, Z. Zeng, X. Wang, H. Lu and Z. Zheng, “Distributed encirclement control with arbitrary spacing for multiple anonymous mobile robots,” in 2017 36th Chinese Control Conference (CCC), 2017, [PDF].

13. S. Luo, W. Yao, Q. Yu, J. Xiao, H. Lu and Z. Zhou, “Object detection based on GPU parallel computing for RoboCup Middle Size League,” in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, [PDF].

14. W. Yao, W. Dai, J. Xiao, H. Lu and Z. Zheng, “A simulation system based on ros and gazebo for robocup middle size league,” in 2015 IEEE international conference on robotics and biomimetics (ROBIO), 2015, [PDF].

Book Chapters

1. J. Xiao, D. Xiong, W. Yao, Q. Yu, H. Lu and Z. Zheng, “Building software system and simulation environment for robocup msl soccer robots based on ros and gazebo,” in Robot operating system (ROS), 2017, [PDF].

PhD Thesis

1. W. Yao, “Guiding vector fields for robot motion control,” University of Groningen, 2021, [PDF][Springer].

Preprints

1. A. Acuaviva, J. Bautista, W. Yao, J. Jimenez, H. G. de Marina, “Resilient source seeking with robot swarms,” 2023, [PDF].

2. Y. Lu, W. Yao, X. Zhang, Y. Xiao, X. Xu, “Guiding-based Nonlinear Learning Predictive Control for Mobile Robots with Safety Guarantees,” 2023.