Experimental video for tour paper entitled "A Safe Reinforcement Learning Approach for Autonomous Navigation of Mobile Robots in Dynamic Environments"

In the fight against COVID-19, many robots replace human employees in various tasks that involve a risk of infection. Among these tasks, the fundamental problem of navigating robots among crowds, named robot crowd navigation, remains open and challenging. Therefore, we propose HGAT-DRL, a heterogeneous GAT-based deep reinforcement learning algorithm. This algorithm encodes the constrained human-robot-coexisting environment in a heterogeneous graph consisting of four types of nodes. It also constructs an interactive agent-level representation for objects surrounding the robot, and incorporates the kinodynamic constraints from the non-holonomic motion model into the deep reinforcement learning (DRL) framework. Simulation results show that our proposed algorithm achieves a success rate of 92%, at least 6% higher than four baseline algorithms. Furthermore, the hardware experiment on a Fetch robot demonstrates our algorithm's successful and convenient migration to real robots.

Crowd navigation has becoming an increasingly prominent problem in robotics. The main challenge comes from the lack of understanding of pedestrians’ behaviors. Encouraged by the great achievement in trajectory prediction, the twin field of crowd navigation, this work focus on integrating trajectory prediction with path planning and proposed a crowd navigation algorithm named RHC-T (Receding Horizon Control with Trajjectron++). It consists of two independent modules: one for trajectory prediction and another for receding horizon control. Benefiting from the trajectory prediction module, RHC-T builds up an explicit understanding of pedestrians’behaviors in the form of predicted trajectories. Base on the formulation of receding horizon control, the proposed algorithm can deal with the time-varying obstacle constraints from pedestrians, naturally. Furthermore, extensive experiments are performed on two pedestrian trajectory datasets, ETH and UCY, to evaluate the proposed algorithm in a more realistic way than previous works. Experimental results show that RHC-T reduces the intervention to pedestrians significantly and navigates the robot in time-efficient paths. Compared with three baseline algorithms, RHC-T achieves better performance with an improvement in the intervention rate and navigation time of at least 8.00% and 3.88%, respectively.

This video is the accompanying video of the paper: Jiayang Liu, Junhao Xiao, Huimin Lu, Zhiqian Zhou, Sichao Lin, Zhiqiang Zheng. Terrain Assessment Based on Dynamic Voxel Grids in Outdoor Unstructured Environments

Abstract: For ground robots working in outdoor unstructured environments, terrain assessment is a key step for path planning.In this paper, we propose a novel terrain assessment method. The raw 3D point clouds are segmented based on dynamic voxel grids, then the untraversable areas are extracted and stored in the form of 2D occupancy grid maps. Afterwards, only the traversable areas are processed and stored in the form of 2.5D digital elevation maps (DEMs). In this case, the efficiency of the terrain assessment is improved and the query space of terrain feature information is reduced. To evaluate the proposed algorithm, the approach operating on point clouds has served as the baseline. According to the experimental results, our method has a better performance in both assessment time and query efficiency.

1. Team description Paper

The team description paper can be downloaded from here.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2019

• 3rd place in MSL scientific challenge in RoboCup 2019, Sydney, Australia

• 1st place in MSL technique challenge in RoboCup 2019, Sydney, Australia

• 4th place in MSL of RoboCup 2019, Sydney, Australia

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3st place  in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen,ShaoXing, China

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2017 ChinaOpen, RiZhao, China

4. Qualification video

The qualification video for  RoboCup 2021 (Virtual) can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of NuBot team, served to MSL community as a member of OC RoboCup 2019 Syndey and TC RoboCup 2020 Bordeaux, France.

• We built a dataset for robot detection which contained fully annotated images acquired from MSL competitions. The dataset is publicly available at: https://github.com/Abbyls/robocup-MSL-dataset

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which has been employed in China Robot Competition since 2016. Until 2020, 8 teams from China joined the competition and one team decides to join RoboCup MSL in the next few years. It can also be used for the research of multi-robot coordination control and the development of the RoboCup MSL community.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

1. Team description Paper

The team description paper can be downloaded from here.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2019

• 3rd place in MSL scientific challenge in RoboCup 2019, Sydney, Australia

• 1st place in MSL technique challenge in RoboCup 2019, Sydney, Australia

• 4th place in MSL of RoboCup 2019, Sydney, Australia

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3st place  in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen,ShaoXing, China

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2017 ChinaOpen, RiZhao, China

4. Qualification video

The qualification video for  RoboCup 2021 Bordeaux, France can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of NuBot team, served to MSL community as a member of OC RoboCup 2019 Syndey and TC RoboCup 2020 Bordeaux, France.

• We built a dataset for robot detection which contained fully annotated images acquired from MSL competitions. The dataset is publicly available at: https://github.com/Abbyls/robocup-MSL-dataset

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which has been employed in China Robot Competition since 2016. Until 2020, 8 teams from China joined the competition and one team decides to join RoboCup MSL in the next few years. It can also be used for the research of multi-robot coordination control and the development of the RoboCup MSL community.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

1. Team description Paper

The team description paper can be downloaded from here.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2019

• 3rd place in MSL scientific challenge in RoboCup 2019, Sydney, Australia

• 1st place in MSL technique challenge in RoboCup 2019, Sydney, Australia

• 4th place in MSL of RoboCup 2019, Sydney, Australia

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3st place  in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen,ShaoXing, China

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2017 ChinaOpen, RiZhao, China

4. Qualification video

The qualification video for  RoboCup 2020 Bordeaux, France can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of NuBot team, served to MSL community as a member of OC RoboCup 2019 Syndey and TC RoboCup 2020 Bordeaux, France.

• We built a dataset for robot detection which contained fully annotated images acquired from MSL competitions. The dataset is publicly available at: https://github.com/Abbyls/robocup-MSL-dataset

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which has been employed in China Robot Competition since 2016. Until 2020, 8 teams from China joined the competition and one team decides to join RoboCup MSL in the next few years. It can also be used for the research of multi-robot coordination control and the development of the RoboCup MSL community.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

	name
Founder and director	Prof. Dr. Zhiqiang Zheng
Staff	Prof. Dr. Hui Zhang Associate Prof. Dr. Huimin Lu Associate Prof. Dr. Junhao Xiao Dr. Zhiwen Zeng Dr. Ming Xu Dr. Qinghua Yu Dr. Kaihong Huang
Graduate students	Xiaoxiang Zheng Wei Dai Weijia Yao Xieyuanli Chen Bailiang Chen Bingxin Han (female) Xiao Li Zhiqian Zhou Shanshan Zhu (female) Chenghao Shi Zirui Guo Pengming Zhu Zhengyu Zhong Yang Zhao Chuang Cheng Wenbang Deng Che Guo Haoran Ren Daoxun Zhang Junqi Zhang Yao Li Zhiwen Zhang
Alumni	Dr. Lin Liu Dr. Fei Liu Dr. Xiucai Ji Prof. Dr. Wenjie Shu Dr. Dan Hai Associate Prof. Dr. Xiangke Wang Dr. Shaowu Yang Dr. Lina Geng (female) Dr. Shuai Tang Dr. Jie Liang Dr. Xiabin Dong Dr. Dan Xiong Mrs. Wei Liu Mr. Yupeng Liu Mr. Dachuan Wang Mr. Baifeng Yu Mr. Fangyi Sun Mr. Lianhu Cui Mr. Shengcai Lu Mr. Peng Dong Mr. Yubo Li Mr. Xiaozhou Zhu Mr. Qingzhu Cui Mr. Xingrui Yang Mr. Kaihong Huang Mr. Shuai Cheng Mr. Xiaoxiang Zheng Mr. Yunlei Chen Mr. Xianglin Yang Mr. Yu Zhang Mrs. Yaoyao Lan Mr. Yuxi Huang Mr. Yi Liu Mr. Yuhua Zhong Mr. Qiu Cheng Mr. Junkai Ren Mr. Peng Chen Mrs. Minjun Xiong Mr. Pan Wang Mrs. Sha Luo Mr. Runze Wang Mr. Junchong Ma Mrs. Ruoyi Yan Mr. Yi Li Mr. Qihang Qiu Mr. Shaozun Hong

2019

• Junhao Xiao, Dan Xiong, Qinghua Yu, Kaihong Huang, Huimin Lu, Zhiwen Zeng. A Real-Time Sliding Window based Visual-Inertial Odometry for MAVs. IEEE Transactions on Industrial Informatics, DOI: 10.1109/TII.2019.2959380, December 2019.
  
• Huimin Lu, Weijia Yao, Liangming Chen. Distributed Multi-robot Circumnavigation with Dynamic Spacing and Time Delay. Journal of Intelligent & Robotic Systems, https://doi.org/10.1007/s10846-019-01111-0, 2019.
• Junchong Ma, Huimin Lu, Junhao Xiao, Zhiwen Zeng, Zhiqiang Zheng. Multi-robot Target Encirclement Control with Collision Avoidance via Deep Reinforcement Learning. Journal of Intelligent & Robotic Systems, to appear, 2019.
  
• Wei Dai, Huimin Lu, Junhao Xiao, Zhiwen Zeng, Zhiqiang Zheng. Multi-Robot Dynamic Task Allocation for Exploration and Destruction. Journal of Intelligent & Robotic Systems, to appear, 2019.
  
• Chenghao Shi, Kaihong Huang, Qinghua Yu, Junhao Xiao, Huimin Lu, Chenggang Xie. Extrinsic Calibration and Odometry for Camera-LiDAR Systems. IEEE Access, to appear, 2019.
  
• Ming Xu, Changlin Han, Huimin Lu, Junhao Xiao, Jingsheng Tang, Zongtan Zhou. The design of the bio‐magnetic field sensor without magnetic shielding. International Journal of Humanoid Robotics, to appear, 2019.
  
• Weijia Yao, Huimin Lu, Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, Vol. 94, No. 3-4, pp. 883-905, 2019.
  
• Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, Vol. 94, No. 3-4, pp. 841-856, 2019. (accompanying video)(source code)
• 熊丹, 卢惠民, 肖军浩, 郑志强. 具有尺度和旋转适应性的长时间目标跟踪. 自动化学报, Vol. 45, No. 2, pp. 289-304, 2019.
• Zhiwen Zeng, Xiangke Wang, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Bearing-based Bionic Encirclement Control Inspired by Dolphins. 2019 IEEE 15th International Conference on Control and Automation (ICCA), 2019.
  
• Bingxin Han, Xiao Li, Qinghua Yu, Lilian Zhang, Huimin Lu. A Novel Visual Odometry Aided by Vanishing Points in the Manhattan World. The 2nd China Symposium on Cognitive Computing and Hybrid Intelligence (CCHI 2019), Xi'an, China, 2019.
• Zhiqian Zhou, Xiao Li, Zhiwen Zeng, Huimin Lu, Zongtan Zhou, Zhiqiang Zheng. A Manipulator-based Trace Explosives Detection System for Baggage. Proceedings of the 2019 IEEE International Conference on Real-time Computing and Robotics, Irkutsk, Russia, August 4-9, 2019, pp. 791-796.[PDF]

2018

• Qinghua Yu, Jie Liang, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. A Novel Perspective Invariant Feature Transform for RGB-D Images. Computer Vision and Image Understanding, Volume 167, pp. 109-120, 2018. (source code)
• Qinghua Yu, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. Hybrid-Residual-based RGBD Visual Odometry. IEEE Access, vol. 6, pp. 28540-28551, 2018. (source code)
• Hui Zhang, Xieyuanli Chen, Huimin Lu, Junhao Xiao. Distributed and Collaborative Monocular SLAM for Multi-robot System in Large-scale environments. International Journal of Advanced Robotic Systems, 2018.
• 张辉, 王盼, 肖军浩, 卢惠民. 一种基于三维建图和虚拟现实的人机交互系统. 控制与决策, Vol. 33, No. 11, pp. 1975-1982, 2018.
• Weijia Yao, Sha Luo, Huimin Lu, Junhao Xiao. Distributed Circumnavigation Control with Dynamic spacing for a Heterogeneous Multi-robot System. RoboCup 2018 Symposium, 2018.
  
• Runze Wang, Huimin Lu, Junhao Xiao, Yi Li and Qihang Qiu. The Design of an Augmented Reality System for Urban Search and Rescue. 2018 IEEE International Conference on Intelligence and Safety for Robotics, Shenyang, China, August 24-27, 2018, pp. 267-272.
  
• Yi Li, Chenggang Xie, Huimin Lu, Xieyuanli Chen, Junhao Xiao, Hui Zhang. Scale-aware Monocular SLAM Based on Convolutional Neural Network. 2018 IEEE International Conference on Information and Automation (ICIA 2018), Wuyi Mountain, China, August 2018, pp. 51-56.
• Xiaoxiang Zheng, Zhiwen Zeng, Jianwei Zhang. High-level Object Affordance Recognition. 2018 IEEE International Conference on Information and Automation (ICIA 2018), Wuyi Mountain, China, August 2018, pp. 312-317.
• Qihang Qiu, Xieyuanli Chen, Zhiwen Zeng, Junhao Xiao, Hui Zhang. Target-based robot autonomous exploration in rescue environments. 2018 IEEE International Conference on Information and Automation (ICIA 2018), Wuyi Mountain, China, August 2018, pp. 609-614.
• Xieyuanli Chen, Huimin Lu, Junhao Xiao and Hui Zhang. Distributed monocular multi-robot SLAM. The 8th Annual IEEE Int. Conf. on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2018), 2018.
  
• Junchong Ma, Weijia Yao, Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance. Proceedings of the 37th Chinese Control Conference, 2018.
• Junkai Ren, Wei Dai, Kuangye Xie, Junhao Xiao, Huimin Lu. A Novel Real-time Motion Control Approach for Omni-directional Mobile Robots. Proceedings of the 37th Chinese Control Conference, 2018.
  
• Zhiqian Zhou,Weijia Yao, Junchong Ma, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Simatch: A Simulation System for Highly Dynamic Confrontations between Multi-Robot Systems. Chinese Automation Congress 2018, Xi'an, 2018.[PDF]
• Changlin Han, Yiyao Xu, Xiaohong Xu, Zhiwen Zeng, Huimin Lu, and Zongtan Zhou. Remote Control and Autonomous Driving: The System-wide Design of a Wheel-track Transformable Robot—Kylin Blaster. Chinese Automation Congress 2018, Xi'an, 2018.
  
• 闫若怡，熊丹，于清华，肖军浩，卢惠民.  基于并行跟踪和检测框架和深度学习的目标跟踪算法. 计算机应用. 2018.
• 陈鹏，谢成钢，卢惠民，肖军浩. 基于RGB-D相机的室内移动机器人自定位方法. 计算机测量与控制．Vol.26，No.3，pp.120-123+128, 2018.
  

2017

• Bo Sun, Yadan Zeng, Houde Dai, Junhao Xiao, Jianwei Zhang, (2017) "A novel scan registration method based on the feature-less global descriptor – spherical entropy image", Industrial Robot: An International Journal, Vol. 44 Issue: 4, pp.552-563.

• Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu, Zhiqiang Zheng,  Building Software System and Simulation Environment for RoboCup MSL Soccer RobotsBased on ROS and Gazebo, Springer Book on Robot Operating System (ROS) –The Complete Reference (Volume 2), pp. 597-631, 2017.

• Junhao Xiao, Huimin Lu, Lilian Zhang, Jianhua Zhang. Pallet recognition and localization using an RGB-D camera. International Journal of Advanced Robotic Systems, 2017.

• Shaozun Hong, Meiping Wu, Junhao Xiao, Xiaohong Xu, Huimin Lu. Kylin: a transformable track-wheel hybrid robot. Proceedings of the 2017 International Conference on Advanced Mechatronic Systems, Xiamen, China, December 6-9, 2017.

• Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017.

• Minjun Xiong, Huimin Lu, Dan Xiong, Junhao Xiao, Ming Lv. Scale-Aware Monocular Visual-Inertial Pose Estimation for Aerial Robots. Chinese Automation Congress 2017, Jinan, 2017.

• Sha Luo, Huimin Lu, Junhao Xiao, Qinghua Yu, Zhiqiang Zheng. Robot Detection and Localization Based on Deep Learning. Chinese Automation Congress 2017, Jinan, 2017.

• Pan Wang, Junhao Xiao, Huimin Lu, Hui Zhang, Ruoyi Yan, Shaozun Hong. A Novel Human-Robot Interaction System Based on 3D Mapping and Virtual Reality. Chinese Automation Congress 2017, Jinan, 2017.

• Xieyuanli Chen, Hui Zhang, Huimin Lu, Junhao Xiao, Qihang Qiu and Yi Li. Robust SLAM system based on monocular vision and LiDAR for robotic urban search and rescue. Proceedings of the 15th IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017), Shanghai, 2017.

• Xieyuanli Chen, Huimin Lu, Junhao Xiao, Hui Zhang, PanWang. Robust relocalization based on active loop closure for real-time monocular SLAM. Proceedings of the 11th International Conference on Computer Vision Systems (ICVS), 2017.

• Weijia Yao, Zhiwen Zeng, Xiangke Wang, Huimin Lu, Zhiqiang Zheng. Distributed Encirclement Control with Arbitrary Spacing for Multiple Anonymous Mobile Robots. Proceedings of the 36th Chinese Control Conference, 2017.

• Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng, et al. Edge Agreement of Second-order Multi-agent System with Dynamic Quantization via Directed Edge Laplacian. Nonlinear Analysis: Hybrid Systems, Vol. 23, pp. 1-10, 2017.

• Yuhua Zhong, Junhao Xiao, Huimin Lu, Hui Zhang. Real-Time Terrain Classification for Rescue Robot Based on Extreme Learning Machine. In: Sun F., Liu H., Hu D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710, 2017. Springer, Singapore.

2016

• 卢惠民，肖军浩，郑志强，ROS与中型组足球机器人，国防工业出版社，ISBN: 978-7-118-10952-8，31.7万字, 2016.10.

• 肖军浩，李鹏，耿丽娜，郑志强，实用机器人设计——竞赛机器人（译），机械工业出版社，ISBN：978-7-111-53601-7，20万字，2016.05.

• 肖军浩，机器人操作系统浅析(译)，国防工业出版社，10万字，ISBN: 978-7-118-11056-2，18万字, 2016.09.

• Lilian Zhang, Huimin Lu, Xiaoping Hu, Reinhard Koch. Vanishing Point Estimation and Line Classification in a Manhattan World with a Unifying Camera Model. International Journal of Computer Vision, Vol. 117, No. 2, pp. 111-130, 2016.

• Dan Xiong, Junhao Xiao, Huimin Lu, Zhiwen Zeng, Qinghua Yu, Kaihong Huang, Xiaodong Yi, Zhiqiang Zheng.The design of an intelligent soccer-playing robot. Industrial Robot: An International Journal, Vol. 43, No.1, pp. 91-102, 2016. [PDF]

• Huimin Lu, Junhao Xiao, Lilian Zhang, Shaowu Yang, Andreas Zell. Biologically Inspired Visual Odometry Based on the Computational Model of Grid Cells for Mobile Robots. Proceedings of the 2016 IEEE Conference on Robotics and Biomimetics, Qingdao, China, December 3~7, 2016. [PDF]
  

• Wei Dai, Qinghua Yu, Junhao Xiao, and Zhiqiang Zheng,Communication-less Cooperation between Soccer Robots. In 2016 RoboCup Symposium, Leipzig, Germany. [PDF]

• Yuxi Huang, Ming Lv, Dan Xiong, Shaowu Yang, Huimin Lu, An Object Following Method Based on Computational Geometry and PTAM for UAV in Unknown Environments.In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China.[PDF]
  
• Qiu Cheng, Shuijun Yu, Qinghua Yu and Junhao Xiao, Real-time Object Segmentation for Soccer Robots Based on Depth Images.In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China. [PDF]
  
• Yi Liu, Yuhua Zhong, Xieyuanli Chen, Pan Wang, Huimin Lu, Junhao Xiao, Hui Zhang, The Design of a Fully Autonomous Robot System for Urban Search and Rescue. In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China.[PDF]
  
• Junkai Ren, Chenggang Xie, Junhao Xiao, Kaihong Huang, Huimin Lu, (2016). A Control System for Active Ball Handing in the RoboCup Middle Size League, In 28th Chinese Control and DecisionConference (CCDC), Yinchuan, China.[PDF]
• Zhiwen Zeng Z, Xiangke Wang, Zhiqiang Zheng. Convergence analysis using the edge Laplacian: Robust consensus of nonlinear multi-agent systems via ISS method. International Journal of Robust and Nonlinear Control, Vol. 26, No. 5, pp. 1051–1072, 2016.
• Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Edge Agreement of Multi-agent System with Quantized Measurements via Directed Edge Laplacian. IET Control Theory & Applications, Vol. 10, No. 13, pp. 1583-1589,2016.
  

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2015

• Huimin Lu, Lixing Jiang, Andreas Zell. Long Range Traversable Region Detection Based on Superpixels Clustering for Mobile Robots. Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, September 28~October 02, 2015, pp. 546-552. [PDF]

• Xianglin Yang, Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Trajectory Planning for RoboCup MSL Mobile Robots Based on Bézier Curve and Voronoi Diagram. International Conference on Information and Automation, Lijiang, China, August 2015, pp: 2552-2557. [PDF]
• Weijia Yao, Wei Dai, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. A Simulation System Based on ROS and Gazebo for RoboCup Middle Size League. Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6~9, 2015. [PDF]
• 郑志强，卢惠民，刘斐，机器人视觉系统研究，科学出版社，ISBN: 978-7-03-044736-4，2015.06.
• Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. The model reduction of multi-agent system depended on the spanning tree of directed graph. 2015 IEEE International Conference on Information and Automation, 2015: 1278-1282.
• Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Second-order edge agreement with locally Lipschitz  dynamics under digraph via edge Laplacian and ISS method.2015 34th Chinese Control Conference (CCC), 2015: 7190-7195.
• Huimin Lu, Qinghua Yu, Dan Xiong, Junhao Xiao, and Zhiqiang Zheng. Object Motion Estimation Based on Hybrid Vision for Soccer Robots in 3D Space. RoboCup 2014: Robot World Cup XVIII, Lecture Notes in Computer Science Volume 8992, pp 454-465, 2015. [PDF]

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2014

• Shuai Cheng, Junhao Xiao, Huimin Lu. Real-time obstacle avoidance using subtargets and Cubic B-spline for mobile robots. Proceedings of 2014 IEEE International Conference on Information and Automation, China, 2014, pp. 634-639.[PDF]

• Yunlei Chen, Huimin Lu, Junhao Xiao, Hui Zhang. Traversable Region Detection based on Near-to-far Self-supervised Incremental Learning. Proceedings of 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September 2014.
• 卢惠民，徐明，李迅.用于计算成像系统的基于信噪比自适应估计的图像去模糊研究.光学学报，Vol.34，No.8，pp.0810002-1～8，2014.
• Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Nonlinear consensus under directed graph via the edge Laplacian. Control and Decision Conference (2014 CCDC), The 26th Chinese. IEEE, 2014: 881-886.
  

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2013

• Xun Li, Huimin Lu, Dan Xiong, Hui Zhang and Zhiqiang Zheng. A Survey on Visual Perception for RoboCup MSL Soccer Robots. International Journal of Advanced Robotic Systems, Vol.10, 110:2013, pp.1-10, 2013. [PDF]

• Huimin Lu, Xun Li, Hui Zhang, and Zhiqiang Zheng. Robust Place Recognition Based on Omnidirectional Vision and Real-time Local Visual Features for Mobile Robots. Advanced Robotics, Vol.27, No.18, pp.1439-1453, 2013. [PDF]

• Huimin Lu, Xun Li, Hui Zhang, Mei Hu and Zhiqiang Zheng. Robust and Real-time Self-Localization Based on Omnidirectional Vision for Soccer Robots. Advanced Robotics, Vol.27, No.10, pp.799-811, 2013. [PDF]

• Zhiwen Zeng, Huimin Lu, Zhiqiang Zheng. High-speed Trajectory Tracking Based on Model Predictive Control for Omni-directional Mobile Robots. Proceedings of the 2013 25th Chinese Control and Decision Conference (CCDC), Guiyang, China, May 25-27, 2013, pp. 3179-3184. [PDF]

• Hui Zhang, Huimin Lu, Peng Dong, Dan Xiong, and Zhiqiang Zheng. A Novel Generic Ball Recognition Algorithm Based on Omnidirectional Vision for Soccer Robots. International Journal of Advanced Robotic Systems, Vol. 10, 388:2013, pp. 1-12, 2013. [PDF]

• YU Qinghua, HUANG Kaihong, Huimin Lu, GUO Hongwu. Object Motion Estimation and Interception Based on Stereo Vision for Soccer Robots in 3D Space. Proceedings of the 32nd Chinese Control Conference, Xi'an, China, July 26-28, 2013, pp. 5943-5948. [PDF]

• Dan Xiong, Huimin Lu, Zhiwen Zeng, Zhiqiang Zheng. Topological Localization Based on Key-frames Selection and Vocabulary Tree for Mobile Robots. Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, December 2013, pp. 2505-2510.

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2012

• Dan Xiong, Huimin Lu, Zhiqiang Zheng. A self-localization method based on omnidirectional vision and MTi for soccer robots. Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing, China, 2012, pp. 3731-3736. [PDF]

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2011

• Huimin Lu, Shaowu Yang, Hui Zhang, Zhiqiang Zheng. A Robust Omnidirectional Vision Sensor for Soccer Robots. Mechatronics, Elsevier, Vol.21, No.2, pp. 373-389, 2011. [PDF]

• Huimin Lu, Hui Zhang, Zhiqiang Zheng. A Novel Real-Time Local Visual Feature for Omnidirectional Vision Based on FAST and LBP. RoboCup 2010: Robot Soccer World Cup XIV, LNAI 6556, Springer, pp. 291-302, 2011. [PDF]

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2010

• Huimin Lu, Zhiqiang Zheng. Two Novel Real-Time Local Visual Features for Omnidirectional Vision. Pattern Recognition, Elsevier, Vol.43, No.12, pp. 3938-3949, 2010. [PDF]

• Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. Camera Parameters Auto-Adjusting Technique for Robust Robot Vision. Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA, May 5~8, 2010, pp. 1518-1523. [PDF]

• Xiangke Wang, Hui Zhang, Huimin Lu, Zhiqiang Zheng. A New Triple-based Multi-robot System Architecture and Application in Soccer Robots. ICIRA 2010, Part II, LNAI 6425, Springer, pp. 105-115, 2010. [PDF]

• 卢惠民, 张辉, 杨绍武, 郑志强. 一种鲁棒的基于全向视觉的足球机器人自定位方法. 机器人, Vol.32, No.4, pp. 553-559+567, 2010. [PDF]

• Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. A Novel Camera Parameters Auto-Adjusting Method Based on Image Entropy. RoboCup 2009: Robot Soccer World Cup XIII, LNAI 5949, Springer, pp. 192-203, 2010. [PDF]

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2009

• Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. Vision-based Ball Recognition for Soccer Robots without Color Classification. Proceedings of 2009 IEEE International Conference on Information and Automation, Zhuhai/Macau,China, 2009, pp. 916-921. [PDF]

• 卢惠民, 张辉, 郑志强. 基于视觉的移动机器人自定位问题. 中南大学学报（自然科学版）, Vol.40, Suppl.1, pp. 127-134, 2009.

• Huimin Lu, Hui Zhang, Junhao Xiao, Fei Liu, Zhiqiang Zheng. Arbitrary Ball Recognition Based on Omni-directional Vision for Soccer Robots. RoboCup 2008: Robot Soccer World Cup XII, LNAI 5399, Springer, pp. 133-144, 2009.[PDF]

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2008

• Huimin Lu, Zhiqiang Zheng, Fei Liu, Xiangke Wang. A Robust Object Recognition Method for Soccer Robots.Proceedings of 7th World Congress on Intelligent Control and Automation,Chongqing,China, 2008, pp. 1645-1650. [PDF]

• 刘斐, 卢惠民, 郑志强. 基于线性分类器的混合空间查找表颜色分类方法. 中国图象图形学报, Vol.13, No.1, pp. 104-108, 2008.

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2007

• 柳林, 刘斐, 季秀才, 卢惠民, 海丹, 郑志强. 全向移动机器人编队分布式控制研究. 机器人, Vol. 29, No.1, pp. 23-28, 2007.

• Fei Liu, Huimin Lu, Zhiqiang Zheng. A Robust Approach of Field Features Extraction for Robot Soccer. Proceedings of 4th IEEE LARS 07/COMRob 07, ROBOTIC FORUM Monterrey 2007, November 05-09, 2007.

• 卢惠民, 刘斐, 郑志强. 一种新的用于足球机器人的全向视觉系统. 中国图象图形学报, Vol.12, No.7, pp. 1243-1248, 2007.

• Fei Liu, Huimin Lu, Zhiqiang Zheng. A Modified Color Look-Up Table Segmentation Method for Robot Soccer. Proceedings of 4th IEEE LARS 07/COMRob 07, ROBOTIC FORUM Monterrey 2007, November 05-09, 2007.

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2006

• 卢惠民, 王祥科, 刘斐, 季秀才, 郑志强. 基于全向视觉和前向视觉的足球机器人目标识别. 中国图象图形学报, Vol.11, No.11, pp. 1686-1689, 2006.

• Xiucai Ji, Lin Liu and Zhiqiang Zheng. A modular hierarchical architecture for autonomous robots based on task-driven behaviors. International Conference on Sensing, Computing and Automation, Chongqing, China, May 8-11, 2006: 631~636.

• 柳林, 季秀才, 郑志强. 基于市场法及能力分类的多机器人任务分配研究. 机器人, 2006, 28(3): 337~343.

2005

• LIU Lin and ZHENG Zhiqiang. Combinatorial bids based multi-robot task allocation method. Proceedings of the 2005 IEEE International Conference on Robotics and Automation（ICRA2005）, 2005: 1157~1162.

• LIU Lin and ZHENG Zhiqiang. A novel multi-robot coordination method using capability category. Proceedings of the 16th IFAC World Congress, 2005.

2004

• LIU Lin, WANG Lei, ZHENG Zhiqiang, SUN Zengqi. A learning market based layered multi-robot architecture. Proceedings of the 2004 IEEE International Conference on Robotics and Automation（ICRA2004）, 2004: 3417~3422.

• 柳林, 郑志强. 多机器人任务分配及其在机器人足球中的应用. 控制理论与应用, 2004, 21(Suppl.): 46~50.