Han Qing

Northwestern Polytechnical University, Honghe University

Papers

Total Citations

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About

Han Qing is a leading researcher in multi-robot systems, with a focused expertise in formation control, nonlinear observability, and bearing-only localization. Her work addresses fundamental challenges in enabling robots to coordinate without GPS or distance sensors, relying solely on angular measurements. Her major contributions include establishing the theoretical foundations for leader-follower formation control, proving that a leader robot system becomes completely observable when it observes two distinct landmarks—a critical insight for reliable state estimation. She also pioneered the use of bearing-only unscented Kalman filters (UKF) for cascade formation systems, demonstrating how nonlinear controllability can be achieved in practice. Her most cited papers, including "Bearing-based localization for leader-follower formation control" and "LEADER-FOLLOWER FORMATION CONTROL OF MULTI-ROBOTS BASED ON BEARING-ONLY OBSERVATIONS," have each garnered 5 citations, reflecting their foundational impact. Through rigorous analysis of nonlinear observability and controllability rank conditions, Han Qing has provided the theoretical backbone for scalable, sensor-efficient multi-robot coordination, making her work essential reading for researchers in swarm robotics and autonomous systems.