Zhehan Li

State Key Laboratory of Industrial Control Technology, Huzhou University

Papers

Total Citations

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About

Zhehan Li is a robotics researcher specializing in cooperative multi-robot systems, with a focus on relative pose estimation, model predictive control, and swarm navigation. His work addresses fundamental challenges in enabling tight coordination between aerial and ground robots. Li’s most notable contribution is CREPES, a novel system for six-degree-of-freedom relative pose estimation that uses active infrared LEDs and a fish-eye camera, enabling robust mutual localization for multi-robot teams. This work has garnered 23 citations and is foundational for cooperative tasks like leader-following and landing on moving platforms. He further advanced the field with CoNi-MPC, a model predictive control framework that operates directly in a non-inertial frame relative to a target, achieving 11 citations for its practical utility in UAV control. Most recently, his work on cost-effective swarm navigation systems explores how UAVs and UGVs can leverage their complementary strengths—agility and heavy-duty capability—to achieve global efficiency. Li’s research is distinguished by its emphasis on real-world deployability, compact hardware design, and tight inter-robot cooperation, making him a rising figure in multi-robot systems.