作为项目负责人承担的科研项目 （部分）

国家自然科学基金，面上项目，61973007，受生物启发的多水下机器人环境自适应集群协作控制方法及实验研究，2020-01至2023-12，63万元，已结题

国家自然科学基金，青年科学基金项目，61503008，基于演化博弈的多智能体环形编队的理论与实验研究，2016-01至2018-12，25.2万元，已结题

装备预研国防科技重点实验室基金，无人机自主集群分布式控制技术，2020-01至2021-12，25万元，已结题

装备预研国防科技重点实验室基金，仿生水中无人航行器集群智能控制技术，2017-07至2019-06，30万元，已结题

中国博士后科学基金，特别资助项目，2016T90016，2016-01至2017-12，15万元，已结题

中国博士后科学基金，面上项目 (一等)，2015M570013，2015-01至2016-11，8万元，已结题

see all publications: My Google Scholar Profile

Journal Papers (selected)

▸ Marine robots: From laboratories to the real underwater adventure [From the Guest Editors]. IEEE Robotics & Automation Magazine, 2024, 31(1).

▸ Multi-modal Soft Amphibious Robots using Simple Plastic Sheet-reinforced Thin Pneumatic Actuators. IEEE Transactions on Robotics, 2024. (invited for presentation at IROS 2024)

▸ Optimal strategies for pursuit-evasion differential games of players with damped double integrator dynamics. IEEE Transactions on Automatic Control, 2023.

▸ Cooperative decision-making for heterogeneous UAV swarm confrontation based on self-play reinforcement learning (基于自博弈强化学习的异构无人机集群协同对抗决策方法), SCIENTIA SINICA Informationis (中国科学: 信息科学), 2023. (in Chinese).

▸ From simulation to reality: A learning framework for fish-like robots to perform control tasks. IEEE Transactions on Robotics, 2022, 38(6): 3861-3878.

▸ Learning for attitude holding of a robotic fish: An end-to-end approach with sim-to-real transfer, IEEE Transactions on Robotics, 2022, 38(2): 1287-1303. (selected for presentation at ICRA 2022) 

▸ Biomimetic electric sense-based localization: A solution for small underwater robots in a large-scale environment. IEEE Robotics & Automation Magazine, 2022, 29(4): 50-65. (invited for presentation at ICRA 2023)

▸ Leveraging imitation learning on pose regulation problem of a robotic fish. IEEE Transactions on Neural Networks and Learning Systems, 2022.

▸ Electric sense based pose estimation and localization for small underwater robots. IEEE Robotics and Automation Letters (RA-L submission with ICRA 2022), 2022, 7(2): 2835-2842.

▸ Glowing sucker octopus (Stauroteuthis syrtensis)-inspired soft robotic gripper for underwater self-adaptive grasping and sensing. Advanced Science, 2022, 9(17): 2104382. 

▸ A fully-3D-printed tortoise-inspired soft robot with terrains-adaptive and amphibious landing capabilities. Advanced Materials Technologies, 2022.

▸ Towards Coordination Control of Multiple Fish-like Robots: Real-time Vision-based Pose Estimation and Tracking via Deep Neural Networks, IEEE/CAA Journal of Automatica Sinica, 2021, 8(12): 1964–1976.

▸ A survey on underwater bionic electric perception (水下仿生电场感知综述), Journal of System Simulation, 2020, 32(12): 2289-2305. (in Chinese) 

▸ Limit-cycle-based design of formation control for mobile agents, IEEE Transactions on Automatic Control, 2020, 65(8): 3530-3543. (Full paper)

▸ Limit-cycle-based decoupled design of circle formation control with collision avoidance for anonymous agents in a plane, IEEE Transactions on Automatic Control, 2017, 62(12): 6560-6567.

▸ Emergence of leadership in a robotic fish group under diverging individual personality traits, Royal Society Open Science, 2017, 4(5): 161015.

▸ Coordination of multiple robotic fish with applications to underwater robot competition, IEEE Transactions on Industrial Electronics, 2016, 63(2): 1280-1288.

▸ Controlling anonymous mobile agents with unidirectional locomotion to form formations on a circle, Automatica, 2014, 50(4): 1100-1108. (Regular paper)

▸ Forming circle formations of anonymous mobile agents with order preservation, IEEE Transactions on Automatic Control, 2013, 58(12): 3248-3254.

Conference Papers (selected)

▸ Real-time estimation for the swimming direction of robotic fish based on IMU sensors. IEEE International Conference on Robotics and Automation (ICRA), 2024.

▸ Pursuit-evasion differential games of players with different speeds in spaces of different dimensions. American Control Conference (ACC), 2022.

▸ FOP: Factorizing Optimal Joint Policy of Maximum-Entropy Multi-Agent Reinforcement Learning. International Conference on Machine Learning (ICML), 2021.

▸ Formation control of multiple nonholonomic vehicles with local measurements in 3D space. IEEE 60th Conference on Decision and Control (CDC), 2021.

▸ Decentralized circle formation control for fish-like robots in real-world via reinforcement learning. IEEE International Conference on Robotics and Automation (ICRA), 2021.

▸ Motion planning for heterogeneous unmanned systems under partial observation from UAV. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

▸ Stacking networks dynamically for IR based on plug-and-play framework. The 16th European Conference on Computer Vision (ECCV), 2020 .

▸ Path-following control of fish-like robots: A deep reinforcement learning approach. The 21st IFAC World Congress, 2020.

▸ Lazy workers benefit group performance in circle formation tasks. The 20th IFAC World Congress, 2017.

▸ Modeling of a carangiform-like robotic fish for both forward and backward swimming: based on the fixed point. IEEE International Conference on Robotics and Automation (ICRA), 2014.

已授权发明专利（部分）

一种多水下机器人协作控制系统, 授权公告日: 2010-10-06, 中国, ZL 200810119216.4.

一种水下电场通信分析方法, 授权公告日: 2020-06-23, 中国, ZL 201910403345.4. 

一种基于电场通信的水下金属探测系统及方法, 授权公告日: 2020-07-03, 中国, ZL 201910403357.7. 

一种面向水中机器人的水下组网方法, 授权公告日: 2020-12-25, 中国, ZL 201810231968.3.

一种船体垃圾清理回收的水下清淤系统, 授权公告日: 2022-12-20, 中国, ZL 202210185299.7.

一种基于大数据路径规划的清淤机器人, 授权公告日:2023-07-07, 中国, ZL 202210131998.3.

一种水下作业机器人. 授权公告日: 2024-02-20, 中国, ZL 202310585630.9.