Publications

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

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

How Do Robot Swarms Behave Compliantly? .
X Zhang, Z Zhao, Q Yang, H Fang, J Chen.
2025 IEEE 19th International Conference on Control & Automation (ICCA), 648-655
Bilibili , Youtube

Distributed Formation Planning for Unmanned Ground Vehicles .
Z Zhao, X Zhang, H Fang, Q Yang.
2025 40th Youth Academic Annual Conference of Chinese Association of Automation (YAC)
Bilibili , Youtube

Distributed Formation Planning for Unmanned Aerial Vehicles .
Z Zhao, X Zhang, H Fang, Q Yang.
Drones 9 (4), 306
2025
Bilibili , Youtube

Joint Terrestrial-Aerial Path Planning for Tensegrone Robot .
S Liu, Z Jing, S Hao, J Lyu, Z Tao, Y Gui, H Fang, Q Yang.
Unmanned Systems
2025
Bilibili , Youtube

Accelerated Optimized Topology Design in Affine Formation Control Using ADMM .
Y Wang, Q Yang, F Xiao, H Fang, J Chen.
IEEE Transactions on Network Science and Engineering
2025,DOI: 10.1109/TNSE.2025.3552979
Bilibili , Youtube

Cooperative Shape-Translation Estimation and Control for Time-Varying Linear Formation .
X Zhang, Q Yang, X Zeng, H Fang, J Chen.
IEEE Transactions on Automatic Control
2025,DOI: 10.1109/TAC.2025.3540570
Bilibili , Youtube

Dynamic Modeling and Control for a Collision-Resilient Tensegrity Aerial Vehicle .
Q Yang, S Hao, Q Liu, S Liu, H Fang.
IEEE/ASME Transactions on Mechatronics
2025,DOI: 10.1109/TMECH.2024.3523177
Bilibili , Youtube

Linear formation control of multi-agent systems .
X Zhang, Q Yang, F Xiao, H Fang, J Chen.
Automatica 171, 111935
2025
Bilibili , Youtube

Relative Localization With Non-Persistent Excitation Using UWB-IMU Measurements .
Y Wang, Q Yang, H Cui, H Fang.
IEEE Transactions on Automation Science and Engineering
2024, DOI: 10.1109/TASE.2024.3460811
Bilibili , Youtube

Joint Estimation and Planar Affine Formation Control With Displacement Measurements .
Q Yang, X Zhang, H Fang, M Cao, J Chen.
IEEE Transactions on Control Systems Technology
2024, DOI: 10.1109/TCST.2024.3449008
Bilibili , Youtube

Enhanced Cooperative Relative Localization Using UWB-VIO Fusion Measurements .
H Cui, K Zheng, Y Wang, Q Yang.
Proceedings of the 2024 2nd International Conference on Frontiers of Intelligent Manufacturing and Automation
Bilibili , Youtube

A Hierarchical Framework for Cooperative Tasks in Multi-agent Systems .
Y Zhu, Q Yang, D Tian, H Fang.
2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)
Bilibili , Youtube

Joint Terrestrial-Aerial Geometric Path Planning for Tensegrity-Aerial Robot .
J Lyu, Q Yang, S Liu, Y Yin, H Fang.
2024 43rd Chinese Control Conference (CCC), 4658-4662
Bilibili , Youtube

A Coupling Algorithm for Task and Path Planning of Multi-UGVs under Environmental Inspiration .
B Xu, H Fang, Y Mao, Y Wei, Q Yang, L Zhou, Z Gao.
2024 IEEE 18th International Conference on Control & Automation (ICCA), 294-299
Bilibili , Youtube

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Distributed Formation Flight Control With Translational and Rotational Maneuvering .
X. Wang, Q. Yang, T. Cai* and Y. Wei.
IEEE Access
vol. 7, pp. 159565-159574

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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