Fangwu Ma
Papers
6
Total Citations
98
H-Index
5
About
Fangwu Ma is a leading researcher in autonomous vehicle localization and mobile robotics, with a focus on visual-inertial odometry (VIO) and wheel-legged robot design. His most impactful contribution is the ACK-MSCKF, a tightly-coupled Ackermann multi-state constraint Kalman filter that addresses the critical problem of unobservable directions in VIO for ground vehicles—a work that has garnered 39 citations. Ma’s innovations extend to motion control, where he developed offset-free model predictive control (MPC) methods to mitigate steady-state errors from parameter perturbations, earning 10 citations. In robotics, he pioneered the design of a four-wheel-legged robot (FWLR) with an actively-passively transformable suspension system, enabling simultaneous posture control and vibration isolation in unstructured terrain—a breakthrough cited 21 times. His consistent monocular Ackermann VIO further advances intelligent vehicle localization by fusing Ackermann error state measurements to improve observability under degenerate motions. Ma’s work bridges theory and application, offering robust solutions for autonomous driving and all-terrain mobility, making him a key figure in the field.
Research Focus
Key Achievements
Top Papers
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- 2Posture Control of a Four-Wheel-Legged Robot With a Suspension System21 citations · 2020
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