Yifeng Zeng

Papers

Total Citations

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About

Yifeng Zeng is a robotics researcher specializing in multi-robot navigation and model predictive control (MPC). His work focuses on solving the fundamental challenge of ensuring stability and feasibility in multi-robot systems that operate without reference trajectories—a critical requirement for real-world autonomous navigation. Zeng’s major contributions include the development of Hierarchical Model Predictive Control (HMPC), a framework that balances theoretical guarantees with computational efficiency for switched linear dynamical robots. His most-cited paper, "Hierarchical model predictive control for multi-robot navigation" (2016, 12 citations), addresses the limitations of heuristic-search methods by providing provable stability in multi-robot systems. In subsequent work, Zeng extended HMPC to handle wheeled mobile robots (WMRs), proving that existing reachable set-based approaches fail for non-linear systems and proposing a virtual linear leader-guided solution (2020, 3 citations). While his citation counts reflect a focused, emerging body of work, Zeng’s contributions are notable for bridging rigorous control theory with practical robotics—offering students and researchers a principled approach to decentralized navigation that prioritizes both safety and performance.