Zhiyuan

Papers

Total Citations

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About

Zhiyuan’s research centers on the control and coordination of multi-robot systems, with a particular focus on formation control and obstacle avoidance for nonholonomic mobile robots. In his most-cited work (2008, 11 citations), he tackled the challenging problem of enabling a team of robots to maintain a desired formation while safely navigating around obstacles. His key contribution was the development of two novel control algorithms based on a non-optimal model predictive control framework. By integrating a cost function for optimal control, these algorithms effectively addressed the dynamics of each interacting robot. Zhiyuan further enhanced safety and stability by employing potential functions to define terminal state penalties and adding a corresponding terminal region constraint to the optimization. His work directly addressed critical issues of stability and safety, and the feasibility of his proposed strategies was validated through simulation. This foundational paper has provided a valuable framework for researchers working on decentralized multi-robot coordination in cluttered environments, establishing Zhiyuan as a contributor to the advancement of autonomous robotic systems.