Publications

PhD Dissertation

Yang, Qingkai. Constructing tensegrity frameworks and related applications in multi-agent formation control. [Groningen]: University of Groningen, the Netherlands, 2018.

Yang, Qingkai. Distributed Estimation and Cooperative Control of Multiple Lagrangian Systems. [Beijing]: Beijing Institute of Technology, China, 2018.

Journal Articles

S. Liu, Q. Yang*, J. Lv and H. Fang, “Modeling of a Six-Bar Tensegrity Robot Using the Port-Hamiltonian Framework and Experimental Validation,” IEEE Robotics and Automation Letters, 2024, doi: 10.1109/LRA.2024.3381819.

Jixue Mo, Hao Fang*, Qingkai Yang, Design and locomotion characteristic analysis of two kinds of tensegrity hopping robots, iScience, Volume 27, Issue 3, 2024, 109226, ISSN 2589-0042

Zhao X, Yang Q*, Pan Y, Fang H. Triangular formation control with mixed distance and bearing measurements under limited field of view constraints. Int J Robust Nonlinear Control. 2023; 33(12): 7374-7391. doi: 10.1002/rnc.6756

X. Zhang, Q. Yang*, J. Lyu, X. Zhao and H. Fang, “Distributed Variation Parameter Design for Dynamic Formation Maneuvers With Bearing Constraints,” IEEE Transactions on Automation Science and Engineering, doi: 10.1109/TASE.2023.3283095.

Q. Yang, F. Xiao, J. Lyu, B. Zhou and H. Fang*, “Self-Organized Polygon Formation Control Based on Distributed Estimation,” IEEE Transactions on Industrial Electronics, vol. 71, no. 2, pp. 1958-1967, Feb. 2024, doi: 10.1109/TIE.2023.3260346.

Daiying Tian, Hao Fang*, Qingkai Yang, Haoyong Yu, Wenyu Liang, Yan Wu, Reinforcement learning under temporal logic constraints as a sequence modeling problem, Robotics and Autonomous Systems, Volume 161, 2023, 104351, ISSN 0921-8890, doi: 10.1016/j.robot.2022.104351.

Zhao X, Yang Q*, Liu Q, Yin Y, Wei Y, Fang H. Minimally Persistent Graph Generation and Formation Control for Multi-Robot Systems under Sensing Constraints. Electronics. 2023; 12(2):317. doi: 10.3390/electronics12020317

Tian D, Fang H, Yang Q*, et al., “Two-Phase Motion Planning Under Signal Temporal Logic Specifications in Partially Unknown Environments,” IEEE Transactions on Industrial Electronics, vol. 70, no. 7, pp. 7113-7121, July 2023, doi: 10.1109/TIE.2022.3203752.

C. Wu, H. Fang, X. Zeng, Q. Yang*, Y. Wei and J. Chen, “Distributed Continuous-Time Algorithm for Time-Varying Optimization With Affine Formation Constraints,” IEEE Transactions on Automatic Control, vol. 68, no. 4, pp. 2615-2622, April 2023, doi: 10.1109/TAC.2022.3190054.

F. Xiao, Q. Yang*, X. Zhao and H. Fang, “A Framework for Optimized Topology Design and Leader Selection in Affine Formation Control,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 8627-8634, Oct. 2022, doi: 10.1109/LRA.2022.3188883.

C. Shang, H. Fang, Q. Yang* and J. Chen, “Distributed Hierarchical Shared Control for Flexible Multirobot Maneuver Through Dense Undetectable Obstacles,” IEEE Transactions on Cybernetics, vol. 53, no. 5, pp. 2930-2943, May 2023, doi: 10.1109/TCYB.2021.3125149.

L. Chen, Q. Yang, M. Shi, Y. Li and M. Feroskhan*, “Stabilizing Angle Rigid Formations With Prescribed Orientation and Scale,” IEEE Transactions on Industrial Electronics, vol. 69, no. 11, pp. 11654-11664, Nov. 2022, doi: 10.1109/TIE.2021.3120476.

A. Yu, Q. Yang, L. Dou and M. Cheriet, “Federated Imitation Learning: A Cross-Domain Knowledge Sharing Framework for Traffic Scheduling in 6G Ubiquitous IoT,” IEEE Network, vol. 35, no. 5, pp. 136-142, September/October 2021, doi: 10.1109/MNET.011.2100134.

C. Wu, H. Fang, Q. Yang*, X. Zeng, Y. Wei and J. Chen, “Distributed Cooperative Control of Redundant Mobile Manipulators With Safety Constraints,” IEEE Transactions on Cybernetics, vol. 53, no. 2, pp. 1195-1207, Feb. 2023, doi: 10.1109/TCYB.2021.3104044.

G. Niu, Q. Yang, Y. Gao and M. -O. Pun*, “Vision-Based Autonomous Landing for Unmanned Aerial and Ground Vehicles Cooperative Systems,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6234-6241, July 2022, doi: 10.1109/LRA.2021.3101882.

Y. Ding, B. Xin*, J. Chen, Q. Yang and H. Fang, “A Unifying Framework for Human-Agent Collaborative Systems-Part II: Design Procedure and Application,” IEEE Transactions on Cybernetics, vol. 52, no. 11, pp. 11990-12002, Nov. 2022, doi: 10.1109/TCYB.2021.3086073.

Chen, L., Yang, Q.*, Li, C. et al. Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics. Int. J. Control Autom. Syst. 19, 1740-1750 (2021). doi: 10.1007s12555-020-0274-3

D. Tian, H. Fang, Q. Yang* and Y. Wei, “Decentralized Motion Planning for Multiagent Collaboration Under Coupled LTL Task Specifications,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 6, pp. 3602-3611, June 2022, doi: 10.1109/TSMC.2021.3073105.

C. Shang, D. Liu, Q. Yang and H. Fang*, “Responsiveness Analysis of Classic and Observer-Based Leader-Follower Systems,” IEEE Transactions on Control of Network Systems, vol. 8, no. 3, pp. 1239-1248, Sept. 2021, doi: 10.1109/TCNS.2021.3061643.

Q. Yang, H. Fang*, M. Cao and J. Chen, “Planar Affine Formation Stabilization via Parameter Estimations,” IEEE Transactions on Cybernetics, vol. 52, no. 6, pp. 5322-5332, June 2022, doi: 10.1109/TCYB.2020.3030270.

Pan Y, Yang Q*, Zhou B, Fang H. Stress-matrix-based formation transformation control under mixed control variables. Adv Control Appl. 2020; 2:e36. https://doi.org/10.1002/adc2.36

J. Chen, Y. Ding, B. Xin, Q. Yang and H. Fang, “A Unifying Framework for Human-Agent Collaborative Systems-Part I: Element and Relation Analysis,” IEEE Transactions on Cybernetics, vol. 52, no. 1, pp. 138-151, Jan. 2022, doi: 10.1109/TCYB.2020.2977602.

L. Zhang, J. Sun* and Q. Yang, “Distributed Model-Based Event-Triggered Leader-Follower Consensus Control for Linear Continuous-Time Multiagent Systems,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 10, pp. 6457-6465, Oct. 2021, doi: 10.1109/TSMC.2019.2962735.

Zhang, Limin; Sun, Jian*; Yang, Qingkai; Event-triggered output consensus for linear multi-agent systems via adaptive distributed observer. (English). Kybernetika, vol. 56 (2020), issue 2, pp. 217-238

X. Wang, Q. Yang, T. Cai* and Y. Wei, “Distributed Formation Flight Control With Translational and Rotational Maneuvering,” IEEE Access, vol. 7, pp. 159565-159574, 2019, doi: 10.1109/ACCESS.2019.2950520.

Qingkai Yang, Zhiyong Sun, Ming Cao, Hao Fang*, Jie Chen, Stress-matrix-based formation scaling control, Automatica, Volume 101, 2019, Pages 120-127, ISSN 0005-1098, doi: 10.1016/j.automatica.2018.11.046.

Q. Yang, M. Cao* and B. D. O. Anderson, “Growing Super Stable Tensegrity Frameworks,” in IEEE Transactions on Cybernetics, vol. 49, no. 7, pp. 2524-2535, July 2019, doi: 10.1109/TCYB.2018.2826049.

Q. Yang, M. Cao, H. Fang* and J. Chen, “Constructing Universally Rigid Tensegrity Frameworks With Application in Multiagent Formation Control,” IEEE Transactions on Automatic Control, vol. 64, no. 1, pp. 381-388, Jan. 2019, doi: 10.1109/TAC.2018.2829687.

Qingkai Yang, Ming Cao, Hector Garcia de Marina, Hao Fang*, Jie Chen, Distributed formation tracking using local coordinate systems, Systems & Control Letters, Volume 111, 2018, Pages 70-78, ISSN 0167-6911, doi: 10.1016/j.sysconle.2017.11.004.

Q. Yang, H. Fang*, J. Chen, Z.-P. Jiang and M. Cao, “Distributed Global Output-Feedback Control for a Class of Euler-Lagrange Systems,” IEEE Transactions on Automatic Control, vol. 62, no. 9, pp. 4855-4861, Sept. 2017, doi: 10.1109/TAC.2017.2696705.

Huang, J., Dou, L., Fang, H., Chen, J., and Yang, Q.. Distributed backstepping-based adaptive fuzzy control of multiple high-order nonlinear dynamics. Nonlinear Dynamics 81, 63-75 (2015). doi: 10.1007/s11071-015-1973-9

Yang, Q., Fang, H.*, Chen, J. and Wang, X. (2014), Distributed observer-based coordination for multiple Lagrangian systems using only position measurements. IET Control Theory Appl., 8: 2102-2114. doi: 10.1049/iet-cta.2014.0392

Qingkai Yang, Hao Fang*, Yutian Mao and Jie Huang, “Distributed tracking for networked Euler-Lagrange systems without velocity measurements,” Journal of Systems Engineering and Electronics, vol. 25, no. 4, pp. 671-680, Aug. 2014, doi: 10.1109/JSEE.2014.00077.

Conference Papers

X. Zhang, Q. Yang*, H. Wei, W. Chen, Z. Peng and H. Fang, “A Distributed Algorithm for Solving A Time-Varying Linear Equation,” 2023 62nd IEEE Conference on Decision and Control (CDC), Singapore, Singapore, 2023, pp. 3160-3165, doi: 10.1109/CDC49753.2023.10383585.

J. Mo, C. Gao, H. Fang and Q. Yang, “Design and locomotion characteristic analysis of a novel tensegrity hopping robot*,” 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-8, doi: 10.1109/ROBIO58561.2023.10354708.

Y. Yin, Q. Yang and H. Fang, “Error-State Kalman Filter Based External Wrench Estimation for MAVs Under a Cascaded Architecture,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 5019-5026, doi: 10.1109/IROS55552.2023.10342358.

Q. Liu, P. Li, Y. Yin, Q. Yang, X. Zhao and H. Fang, “Rolling Strategy and Motion Controller Design for an Aerial Vehicle Surrounded by a Six-Bar Tensegrity Structure,” 2023 42nd Chinese Control Conference (CCC), Tianjin, China, 2023, pp. 4131-4136, doi: 10.23919/CCC58697.2023.10240425.

Z. Han, H. Fang, Q. Yang, Y. Bai and L. Chen, “Online 3D Reconstruction Based On Lidar Point Cloud,” 2023 42nd Chinese Control Conference (CCC), Tianjin, China, 2023, pp. 4505-4509, doi: 10.23919/CCC58697.2023.10240819.

Mo, J., Gao, C., Liu, F., Yang, Q., Fang, H. (2023). A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_26

X. Zhang, J. Lv, S. Lu and Q. Yang, “Distributed Decision Making on Scaling Size for Obstacle Avoidance in Affine Formation Control,” 2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC), Beijing, China, 2022, pp. 1001-1006, doi: 10.1109/YAC57282.2022.10023557.

X. Zhang et al., “Design and Analysis of Truss Aerial Transportation System (TATS): The Lightweight Bar Spherical Joint Mechanism,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 10501-10507, doi: 10.1109/IROS47612.2022.9981191.

Z. Jiang, D. Tian, Q. Yang and Z. Peng, “Self-Attention based Temporal Intrinsic Reward for Reinforcement Learning,” 2021 China Automation Congress (CAC), Beijing, China, 2021, pp. 2022-2026, doi: 10.1109/CAC53003.2021.9727314.

J. Hu, H. Fang, Q. Yang and W. Zha, “MOD-SLAM:Visual SLAM with Moving Object Detection in Dynamic Environments,” 2021 40th Chinese Control Conference (CCC), Shanghai, China, 2021, pp. 4302-4307, doi: 10.23919/CCC52363.2021.9549246.

R. Li, Q. Yang, W. Zhao and H. Fang, “Collision-Free Trajectory Generation for Multiple UAVs with Sensing Constraints,” 2021 40th Chinese Control Conference (CCC), Shanghai, China, 2021, pp. 5592-5597, doi: 10.23919/CCC52363.2021.9549652.

H. Liu, T. Cai, Q. Yang and H. Fang, “Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control,” 2020 IEEE 16th International Conference on Control & Automation (ICCA), Singapore, 2020, pp. 29-34, doi: 10.1109/ICCA51439.2020.9264549.

C. Song, H. Fang, Q. Yang and Y. Wei, “LQR-based affine formation control for multi-agent systems,” 2020 IEEE 16th International Conference on Control & Automation (ICCA), Singapore, 2020, pp. 1440-1445, doi: 10.1109/ICCA51439.2020.9264384.

Y. Wei, H. Fang, L. Dou and Q. Yang, “Distributed Nonsmooth Optimization with Consensus and Inequality Constraints via Distributed Smooth Proximal-Splitting Algorithm,” 2020 IEEE 16th International Conference on Control & Automation (ICCA), Singapore, 2020, pp. 552-557, doi: 10.1109/ICCA51439.2020.9264474.

Bo Zhou, Qingkai Yang, Lihua Dou, Hao Fang, Jie Chen, An attempt to self-organized polygon formation control of swarm robots under cyclic topologies, IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 11000-11005, ISSN 2405-8963, doi: 10.1016/j.ifacol.2020.12.024.

Q. Yang, H. Fang, M. Cao, C. Shang and Y. Wei, “Tunable formation realization for nonholonomic mobile robots using the stress matrix,” 2019 Chinese Control Conference (CCC), Guangzhou, China, 2019, pp. 5853-5858, doi: 10.23919/ChiCC.2019.8866459.

Y. Wei, S. Ding, H. Fang, X. Zeng, Q. Yang and B. Xin, “Distributed Nonsmooth Robust Resource Allocation with Cardinality Constrained Uncertainty,” 2019 Chinese Control Conference (CCC), Guangzhou, China, 2019, pp. 5758-5763, doi: 10.23919/ChiCC.2019.8865499.

Y. Lin, M. Cao, Z. Lin, Q. Yang and L. Chen, “Global stabilization for triangular formations under mixed distance and bearing constraints,” 2019 IEEE 15th International Conference on Control and Automation (ICCA), Edinburgh, UK, 2019, pp. 1545-1550, doi: 10.1109/ICCA.2019.8899621.

L. Chen, M. Cao, B. Jayawardhana, Q. Yang and C. Li, “Stabilizing a mobile agent under two angle constraints,” 2019 IEEE 15th International Conference on Control and Automation (ICCA), Edinburgh, UK, 2019, pp. 758-763, doi: 10.1109/ICCA.2019.8899950.

Q. Yang, Y. Pan, B. Zhou and H. Fang, “Planar formation control using tensegrity structures and experiments,” 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC), Jinzhou, China, 2019, pp. 307-311, doi: 10.1109/YAC.2019.8787707.

N. Zhou, G. Wen, J. Huang, Q. Yang and L. Chen, “Simulation and Comparison of Different Types of First-order Decentralized Sliding Mode Estimators,” 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, 2018, pp. 1087-1092, doi: 10.1109/ICARCV.2018.8581151.

S. Kai, H. Fang, C. Wu, X. Zeng and Q. Yang, “Distributed Formation and Motion Control in Multiple Mobile Manipulator Transportation: An Energy Optimization Design,” 2018 37th Chinese Control Conference (CCC), Wuhan, China, 2018, pp. 1179-1184, doi: 10.23919/ChiCC.2018.8484143.

Q. Yang, M. Cao, Z. Sun, H. Fang and J. Chen, “Formation scaling control using the stress matrix,” 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Melbourne, VIC, Australia, 2017, pp. 3449-3454, doi: 10.1109/CDC.2017.8264164.

Q. Yang, Z. Sun, M. Cao, H. Fang and J. Chen, “Construction of universally rigid tensegrity frameworks and their applications in formation scaling control,” 2017 36th Chinese Control Conference (CCC), Dalian, China, 2017, pp. 8177-8182, doi: 10.23919/ChiCC.2017.8028651.

Jie Huang, Ming Cao, Ning Zhou, Qingkai Yang, Xiaoshan Bai, Distributed Behavioral Control for Second-Order Nonlinear Multi-Agent Systems, IFAC-PapersOnLine, Volume 50, Issue 1, 2017, Pages 2445-2450, ISSN 2405-8963, doi: 10.1016/j.ifacol.2017.08.407.

Yang, Q., & Cao, M. (2017). Formation scaling control using tensegrities from graph theory. 109. Abstract from 36th Benelux Meeting on Systems and Control, Spa, Belgium.

Q. Yang, M. Cao, H. Fang and J. Chen, “Weighted centroid tracking control for multi-agent systems,” 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, pp. 939-944, doi: 10.1109/CDC.2016.7798388.

Qingkai Yang, Hao Fang, Ming Cao, Jie Chen, Distributed trajectory tracking control for multiple nonholonomic mobile robots, IFAC-PapersOnLine, Volume 49, Issue 4, 2016, Pages 31-36, ISSN 2405-8963, doi: 10.1016/j.ifacol.2016.05.006.

Q. Yang, H. Fang, J. Chen, Z. Jiang and X. Gu, “Global output feedback control for multiple robotic manipulators,” 2015 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, 2015, pp. 5438-5443, doi: 10.1109/CDC.2015.7403071.

Qingkai Yang, Ming Cao, Hao Fang, Jie Chen, and Jie Huang. “Distributed formation stabilization for mobile agents using virtual tensegrity structures,” 2015 34th Chinese Control Conference (CCC), Hangzhou, China, 2015, pp. 447-452, doi: 10.1109/ChiCC.2015.7259678.

Qingkai Yang, Fengyi Zhou, Jie Chen, Xin Li, Hao Fang, Distributed Tracking for Multiple Lagrangian Systems Using Only Position Measurements., IFAC Proceedings Volumes, Volume 47, Issue 3, 2014, Pages 287-292, ISSN 1474-6670, ISBN 9783902823625, doi: 10.3182/20140824-6-ZA-1003.00508.

Jie Huang, Jie Chen, Hao Fang, Lihua Dou and Qingkai Yang, “Consensus of multiple high-order nonlinear systems with uncertainty,” Proceedings of the 32nd Chinese Control Conference, Xi’an, 2013, pp. 7145-7149.

Q. Yang, H. Fang, Y. Mao, J. Huang and J. Sun, “Distributed tracking for networked Euler-Lagrange systems using only relative position measurements,” 2013 9th Asian Control Conference (ASCC), Istanbul, Turkey, 2013, pp. 1-6, doi: 10.1109/ASCC.2013.6606098.