Xiaoming Hu's Homepage
Professor, Ph. D
Optimization and Systems Theory
Royal Institute of Technology
SE-100 44 Stockholm, Sweden
Tel: +46-8-790 7180
Fax: +46-8-22 53 20
Visiting address: Room 3532, Lindstedtsv. 25
was born in Chengdu, China. He received the B.S.
degree from University of Science and Technology of China in 1983. He
received the M.S. and Ph.D degrees from Arizona State University in
1986 and 1989 respectively. He served as a research assistant at the
Institute of Automation, Academia Sinica, from 1983 to 1984. From 1989 to 1990
he was a
Gustafsson Postdoctoral Fellow at the Royal Institute of Technology,
Stockholm, where he is currently a professor. His main research
interests are in nonlinear feedback stabilization, nonlinear
observer design, sensing and active perception, motion planning and
control of mobile robots, and mobile manipulation.
Some recent publications:
- Observers for Systems with Implicit Output(with A. Matveev,
R. Frezza and H. Rehbinder), IEEE Trans. Aut. Control, 2000.
Control of Mobile Platforms Using a Virtual Vehicle Approach
(with M. Egerstedt and A. Stotsky), IEEE Trans. Aut. Control,
no 11, 2001.
A Hybrid Control Approach to Action Coordination for Mobile
Robots (with M. Egerstedt), Automatica, no 1, 2002
- Nonlinear State Estimation for Rigid
Body Motion with Low-Pass
Sensors (with H. Rehbinder), System and Control Letters, 2000.
Input-Output Behavior for Stable Linear Systems (with C.I. Byrnes,
C. Martin and V. Shubov), J. Franklin Inst., vol. 338, no.4, 2001.
- Coordinated Trajectory Following for Mobile Manipulators (with
M. Egerstedt), proc. of the 2000 ICRA Conference.
Path Planning and Navigation of Mobile Robots in Unknown Environments (with T. Ersson), proc. IROS 2001.
Reactive Mobile Manipulation Using Dynamic Trajectory Tracking:
Design and implementation (with P. Ögren, M. Egerstedt and
L. Petersson), proc. of 2000 CDC.
Formation Constrained Multi-Agent Control (with M. Egerstedt), IEEE trans. Robotics and Automation, no 6, 2001
Implicit Observers and Active Perception (with T. Ersson), proc. IROS 2001.
A Control Lyapunov Function Approach to
Multi-Agent Coordination (with P. Ögren and M. Egerstedt), IEEE
trans. Robotics and Automation, October, 2002.
Input Tracking for Stable Linear Systems (with U. Jönsson and
C. Martin), Proc. of 2002 IFAC Congress.
Input Tracking and Output Fusion for Linear
Systems (with U. Jönsson and C. Martin), in Directions in
Mathematical Systems Theory and
Optimization (eds. A. Rantzer and C. Byrnes), Lecture Notes in
Control and Information Sciences, vol. 288, Springer, 2002.
Nearly Time-Optimal Paths for a Ground Vehicle (with David Anisi and
Johan Hamberg), J. of Control Theory and Applications, November, 2003.
- Sensor-Based Navigation Coordination for Mobile Robots (with
David Fuentes and Tove Gustavi), in CDC 2003.
- Drift-free attitude estimation for
accelerated rigid bodies (revised, with H. Rehbinder),
Automatica, April, 2004.
Non-regular feedback linearization of nonlinear systems via a normal
form algorithm (with Daizhan Cheng and Yuzhen Wang), Automatica, March, 2004.
Collaborative tracking of a moving object using directional sensors
(with M. Mazo, A. Speranzon and K-H. Johansson), in ICRA 2004.
- Active state estimation of nonlinear
systems (with T. Ersson), Automatica, December, 2004.
- Active Nonlinear Observers for
Mobile Systems (with S. Cedervall), in CDC 2004.
- Multi-Robot Formation Control and
Terrain Servoing with Limited Sensor Information (with T. Gustavi and
M. Karasalo), in IFAC World Congress 2005.
- Optimal Design of Grazing Behavior for Multi-agent Robots (with Yi
Huang and Daizhan Cheng),
in Advanced Robust and Adaptive Control Theory and Applications,
Tsinghua University Press-Springer, 2005.
- Drift-free Attitude Estimation
Using Quasi-linear Observers (with Henrik Rehbinder), in "New
Applications in Control Theory", Springer-Verlag, 2005.
- Distributed Sensor Network for Target Tracking (with D. Cheng and
B. Ghosh), proc. of MTNS 2006.
- Active observers for mobile robotic systems (with D. Anisi),
proc. of MTNS 2006.
- Set Stability and Controllability for Switched Affine
Systems (with D. Cheng), proc. of CCC 2006.
- On the Smallest Enclosing Balls (with Daizhan Cheng and Clyde
Martin), Communications in Information and
Systems vol 6, no. 2, 2006.
- Nonlinear Observers for
Unicycle Robots with Range Sensors (with
S. Cedervall), IEEE Trans. Aut. Control vol. 52, no. 7, 2007.
- Contour Reconstruction and
Matching Using Recursive Smoothing Splines (with M. Karasalo and
C. Martin), in "Modeling, Estimation
and Control", Lecture Notes in Control and Information Sciences,
- Consensus of Multi-agent Linear
Dynamic Systems (with J. Wang and D. Cheng), Asian
Journal of Control, March 2008.
- LaSalle's Invariance Principle for Switched Linear Systems and Its
Application to Consensus Problems in Multi-agent Systems (with
D. Cheng and J. Wang), IEEE Trans. Aut. Control, August 2008.
- An observer based apporach to formation
control (with T. Gustavi), IEEE Trans. Robotics, December 2008.
- Contour Reconstruction using Recursive Smoothing Splines - Algorithms and
Experimental Validation (with M. Karasalo, G. Piccolo and
D. Kragic), Robotics and Autonomous Systems, June 2009.
- An Extension of LaSalle's
Invariance Principle for a Class of Switched Linear Systems (with
J. Wang and D. Cheng),
Systems and Control Letters, October 2009.
- Topology-induced connectivity
bounds in leader-follower networks (with T. Gustavi,
D. Dimarogonas and M. Egerstedt),
Automatica, January 2010.
- Nonlinear filtering in target
tracking using cooperative mobile sensors (with J. Hu),
Automatica, in press. doi:10.1016/j.automatica.2010.08.016.
- Periodic and Recursive Control
Theoretic Smoothing Splines (with
M. Karasalo and C. Martin), Communications in Information and
Systems, in press.
- Robust formation control and servoing using switching range sensors
(with M. Karasalo), Robotics and Autonomous Systems, in
- Optimal Output Consensus Control and
Outlier Detection (with J. Thunberg), Proc. MTNS, Bupdapest, 2010.
- Observer-based Tracking Problem of
Multi-agent Systems (with J. Wang), Proc. Chinese Control Conference,
- Cooperative Minimum Time
Surveillance With Multiple Ground Vehicles (with D. Anisi and P. Ögren),
IEEE Trans. Aut. Control Dec 2010.
- The proportion of leaders needed for
the expected consensus (with Z. Liu and J. Jan),
Automatica Dec 2011.
- An optimization approach to adaptive
Kalman filtering (with M. Karasalo), Automatica Aug 2011.