22. Ming Cao, Pengpeng Su, Haoyao Chen*, Shiyu Tang, and Yunhui Liu, 3D Dense Rangefinder Sensor With A Low Cost Scanning Mechanism, IEEE Transactions on Instrumentation & Measurement, accepted, 2020. (SCI: 3.5) 

21. Bin Luo, Haoyao Chen*, Fengyu Quan, Shiwu Zhang, and Yunhui Liu, Natural Feature-based Visual Servoing for Grasping Target with an Aerial Manipulator, Journal of Bionic Engineering, 17, 2020:215-228. (SCI: 2.463) (封面论文)

20. Jiabi Sun, Jing Song, Haoyao Chen*, and Yunhui Liu, Autonomous State Estimation and Mapping in Unknown Environments with Onboard Stereo Camera for MAVs, IEEE Transactions on Industrial Informatics, 16(9), 2020:5746-5756. (SCI:7.377)  [bibtex]

19. Zhiqiang Miao, Yunhui Liu, Yaonan Wang, Haoyao Chen, Hang Zhong, and Rafael Fierro, Consensus With Persistently Exciting Couplings and Its Application to Vision-Based Estimation, IEEE Transactions on Cybernetics, June 10, 2019. (SCI: 10.387) 

18. Zhichen Pan, Haoyao Chen*, Silin Li and Yunhui Liu, ClusterMap Building and Relocalization in Urban Environments for Unmanned Vehicles,Sensors,19(19), 2019:4252., (SCI:3.031)[bibtex]

17. Haoyao Chen*, Fengyu Quan, Linxu Fang, and Shiwu Zhang, Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation, Sensors, 19(19):2019:4253. [bibtex]

16. Jian Shu, Shi-Yang Tang, Sizepeng Zhao, Zhihua Feng, Haoyao Chen, Xiangpeng Li, Weihua Li and Shiwu Zhang, Rotation of Liquid Metal Droplets Solely Driven by the Action of Magnetic Fields, Applied Sciences, 9(7), 2019:1421. (SCI:) [bibtex] 

15. Xuefeng Wang, Haoyao Chen*, Yanjie Li, and Hailin Huang. Online Extrinsic Parameter Calibration for Robotic Camera-Encoder System, IEEE Transactions on Industrial Informatics, 15(8), 2019:4646-4655. [bibtex]

14. Haoyao Chen*, Hailin Huang, Ye Qin and Yunhui Liu, Vision and Laser Fused SLAM in Indoor Environments with Multi-Robot System, Assembly Automation, 39(2), 2019:297-307. (SCI: 2.056)  [bibtex]

13. Zhili Long, Ronghua He, Yuxiang He, H. Chen, and Zuohua Li. Feature Extraction and Mapping Construction for Mobile Robot via Ultrasonic MDP and Fuzzy Model, Sensors 2018, 18(11), 3673. (SCI: 2.475)

12. Yanjie Li*, Xinyu Wu, Yunjiang Lou, Haoyao Chen, Jiangang Li, Coupling based Estimation Approaches for the Average Reward Performance Potential in Markov Chains, Automatica, 93, 2018:172-182. (SCI, 6.126) [bibTex]

11. Yajun Gao, Haoyao Chen*, Yanjie Li, and Congyu Lyu and Yunhui Liu, “Autonomous Wi-Fi Relay Placement With Mobile Robots,” in IEEE/ASME Transactions on Mechatronics, vol. 22, no. 6, pp. 2532-2542, Dec. 2017. (SCI, 4.357) [bibtex]

10. C. Wang, K. Li, G.Y. Liang, H. Chen, S. Huang, and X.Y. Wu, A Heterogeneous Sensing System-Based Method for Unmanned Aerial
Vehicle Indoor Positioning, Sensors, 17(8), 2017; (SCI: 2.677)

9. W. Zhou, C. Lyu, X. Jiang, W. Zhou, P. Li, H. Chen, T. Zhang, and Y.-H. Liu. Efficient and Fast Implementation of Embedded Time-of-Flight Ranging System Based on FPGAs. IEEE Sensors Journal, 17(18), 2017; (SCI, 2.512)

8. C.Y. Lv, Y.H. Liu, X. Jiang, P. Li, and H. Chen. High-speed object tracking with its application in golf playing. International Journal of Social Robotics, 9(3):449-461, 2017; (SCI, 2.559)

7. Congyu Lv, Haoyao Chen*, Yunhui Liu, Xin Jiang, and Peng Li. “Real-time Object Tracking System Based on FPGA and Convolution Neural Network”, International Journal of Advanced Robotic Systems, 2017:1-14. (SCI, 0.987) [bibtex]

6. Haoyao Chen*, Can Wang, Xiaojian Li, and Dong Sun, “Transportation of Multiple Biological Cells Through Saturation-Controlled Optical Tweezers In Crowded Microenvironments,” in IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 888-899, April 2016. (SCI,4.357) [bibtex]

5. Haoyao Chen*, Can Wang, and Yunjiang Lou, “Flocking Multiple Microparticles With Automatically Controlled Optical Tweezers: Solutions and Experiments,” in IEEE Transactions on Biomedical Engineering, vol. 60, no. 6, pp. 1518-1527, June 2013. doi: 10.1109/TBME.2013.2238538. (SCI, 3.577) (Bibtex)

4. Haoyao Chen*, and Dong Sun, “Moving Groups of Microparticles Into Array With a Robot–Tweezers Manipulation System,” in IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1069-1080, Oct. 2012. (SCI,2.536) (Bibtex)

3. Haoyao Chen*, Dong Sun, Jie Yang and Jian Chen, “Localization for Multirobot Formations in Indoor Environment,” in IEEE/ASME Transactions on Mechatronics, vol. 15, no. 4, pp. 561-574, Aug. 2010. (SCI,3.427) (Bibtex)

2. Jian Chen, Dong Sun, Jie Yang, and Haoyao Chen, “A leader-follower formation control of multiple nonholonomic mobile robots incorporating receding-horizon scheme,” International Journal of Robotics Research, 29(6), pp. 727-747, 2010. (SCI, 3.107)

1. Haoyao Chen*, Dong Sun, and Jie Yang, “Global localization of multirobot formations using ceiling vision SLAM strategy,” Mechatronics, 19(5), pp. 617-628, 2009. (SCI,1.726)


41. Yaqi Wu, Anxin Xiao, Haoyao Chen*, Shiwu Zhang and Yunhui Liu, Amphibious Robot’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 6-9, 2020, Boston USA, Accepted.

40. Tao Yang*, Yujing Zhang, Yantao Shen, Yunhui Liu, Haoyao Chen, SRAE-SSE Deformation Mechanism Enabled Multiscale Multicopter: Design, Modeling and Flight Performance Validation, ICRA, 2020, accepted.

39. Chenghao Li, Shuang Liu, Qiaoyang Xia, Hui Wang, and Haoyao Chen, Automatic Container Code Localization and Recognition via an Efficient Code Detector and Sequence Recognition. AIM 2019: 532-537.

38. Yaonan Fei, Haoyao Chen*, Fengyu Quan, Can Wang, and Yunhui Liu, Swan-Inspired Unmanned Aerial Vehicles with Long-Neck Visual Perception System, in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2019, pp:1335-1340.

37. Hu Jin, Tao Fang, Haoyao Chen, Tanju Yildirim, Weihua Li, Shiwu Zhang, Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model. RCAR 2019: 761-766.

36. Fengyu Quan, H. Chen*, Y. Li, Y. Lou and Y. Liu, “Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator,” in Proceedings of IEEE International Conference on Robotics and Biomimetics(ROBIO),2018,pp:562-568.

35. Yaqi Wu, Jin Song, Jiabi Sun, Fenfang Zhu, Haoyao Chen*, Aerial Grasping Based on VR Perception and Haptic Control, RCAR, 2018:556-562.

34. Lili Zhou, Wenfu Xu, Haoyao Chen, Hailin Huang, Han Yuan, Design and Kinematic Analysis of a Modular Re-Configurable Cable-Driven Parallel Robot. RCAR 2018: 620-625.

33. B. Ouyang, H.J. Mo, H. Chen, Y.H. Liu, and D. Sun, Robust Model-Predictive Deformation Control of a Soft Object by Using a Flexible Continuum Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 2018:613-618.

32. Shunbo Zhou, Zhiqiang Miao, Zhe Liu, Hongchao Zhao, Hesheng Wang, Haoyao Chen, Yun-Hui Liu, Vision-Based State Estimation and Trajectory Tracking Control of Car-Like Mobile Robots with Wheel Skidding and Slipping, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 4270-4275, 2018.

31. Lingxu Fang, Haoyao Chen*, Yunjiang Lou, Yanjie Li, and Yunhui Liu, Visual Grasping for a Lightweight Aerial Manipulator Based on NSGA-II and Kinematic Compensation, IEEE International Conference on Robotics and Automation (ICRA2018), 2018:3488-3493. (Bibtex)

30. Xuefeng Wang, Haoyao Chen*, and Yanjie Li, Online Calibration for Monocular Vision and Odometry Fusion, IEEE International Conference on Unmanned Systems, 2017:602-607. (Best Paper Award).

29. Jiayuan Yang, Yanjie Li, Haoyao Chen and Jianggang Li, Average Reward Reinforcement Learning for Semi-Markov Decision Processes, ICONIPS,2017.

28. Shiyu Chen, Yanjie Li, and Haoyao Chen, A Monocular Vision Localization Algorithm Based on maximum likelihood estimation, RCAR, 2017.

27. E.P. Jia, H. Chen*, Y.J. Li, and Y.J. Lou, Y.H. Liu, Visual Servo Tracking Control of Quadrotor With A Cable Suspended Load, International Conference on Computer Vision Systems, 2017.

26. X. Liang, H. Chen*, Y.J. Li, and Y.H. Liu. Visual Laser-SLAM in Large-scale Indoor Environments,  IEEE Conf. on Robotics and Biomimetics, DEC. 3 – DEC. 7, 2016, Qingdao, China, pp.19-24. (T.J. Tarn Best Paper in Robotics Finalist)

25. R. Shi, Y.J. Lou, Y.Q. Shao, J.G. Li, and H. Chen. A Novel Contouring Error Estimation for Position-Loop Cross-Coupled Control of Biaxial Servo Systems, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Oct. 2016, pp.2197-2202.

24. Y.J. Gao, H. Chen*, Y.J. Li, and Y.H. Liu. Autonomous WiFi-Relay Control with Mobile Robots. Proceedings of the IEEE International Conference on Real-time Computing and Robotics, 2016,pp.198-203.

23. M.X. Zhang, Y.J. Li, and H. Chen. A semi-Markov Decision Process Based Dynamic Power Management for Mobile Devices. Proceedings of the IEEE International Conference on Real-time Computing and Robotics, 2016,pp.249-254.

22. J.F. Zhai, Y.J. Li and H. Chen. An online optimization for dynamic power management. Proceedings of the IEEE International Conference on Industrial Technology. 2016,pp.1533-1538.

21. H. Chen*, and D. Sun. Swarm-Inspired Transportation of Biological Cells Using Saturation-Controlled Optical Tweezers. IEEE Conf. on Robotics and Automation(ICRA), pp. 3531-3536, Seattle, 2015.(EI)

20. S. Liu, C. Wang, G. Liang, H. Chen.  Formation control strategy for a group of quadrotors, IEEE International Conference on Information and Automation,2015,pp.2504-2511.

19. C. Lyu, Y.H. Liu, B. Li, H. Chen, Multi-feature based high-speed ball shape target tracking, IEEE Conference on Information and Automation, pp.67-72, Lijiang, Aug. 8-10, 2015.

18. X.S. Yang, Y.J. Lou, Z.X. Li, H. ChenSurvey of Robotic Manipulator Workspace, 33rd Chinese Control Conference, Nanjing China, 2014:8530-8535.

17. Y.J. Li, H.J. Wang, H. Chen. A unified approach for semi-Markov decision processes with discounted and average reward criteria, 11th World Congress on Intelligent Control and Automation (WCICA), 2014,pp.1741-1744

16. H. Chen*, J. Zhong, Y. Fu, and Y. Lou. Pose-graph based 3D map fusion with distributed robot system. IEEE Conf. on Robotics and Biomimetics,pp. 1608-1613, Bali, Dec. 5-10, 2014.(EI)

15. Y. Yang, H. Chen*, Y. Lou, W. Lin. Remote master-slave control of a 6D manipulator for cardiac surgery application. IEEE Conf. on Robotics and Biomimetics, pp. 1799-1804, Bali, Dec. 5-10, 2014.(EI)

14. H. Chen*, and D. Sun. Kinodynamic planning and tracking control of biological cell formation with optical tweezers. IEEE Conf. on Nanotechnology (NANO), Aug. 5-8, pp. 199-203, Beijing, 2013. (EI)

13. J. Liu, H. Chen*, and B. Zhang. Square root unscented Kalman filter based ceiling vision SLAM.  IEEE Conf. on Robotics and Biomimetics, pp. 1635-1640, Shenzhen, Dec. 12-14, 2013.(EI)

12. B. Zhang, J. Liu, and H. Chen*. AMCL based map fusion for multi-robot SLAM with heterogeneous sensors.  IEEE Conf. on Information and Automation, pp. 820-825, Yinchuan, Aug. 26-28, 2013. (EI)

11. H. Liang, C. Wang, H. Chen, and X. Wu. A synchronous approach to trajectory tracking in multirobot formation control with time delays. IEEE Conf. on Information and Automation (ICIA), pp. 669-674, Yinchuan, Aug. 26-28, 2013.(EI)

10. H. Chen*, Can Wang, and D. Sun, “Dynamics Calibration of Optically Trapped Cells with Adaptive Control Technology,”  IEEE Int. Conf. On Robotics and Automation, pp.2801-2806, Karlsruhe, May 6-10, 2013.(EI)

9. H. Chen*, and D. Sun, “Automatic Flocking Manipulation of Micro Particles with robot-tweezers technologies,” IEEE Int. Conf. On Robotics and Automation, , pp.4588-4593, Minnesota, May 14-18, 2012.(EI)

8. H. Chen*, and D. Sun, “Pairing and Moving Swarm of Micro Particles into Array with a Robot-tweezer Manipulation System,” IEEE/RSJ Conf. Intelligent Robots and Systems, pp. 451-456, San Francisco, Sept. 25-30, 2011.(EI)

7. H. Chen*, J. Chen, and D. Sun, “A Novel Allocation-based Formation Algorithm for Swarm of Micro-Scaled Particles,” IEEE Int. Conf. On Robotics and Automation, pp. 1664-1669, Shanghai, May 9-13, 2011. (EI)

6. H. Chen*, J, Chen,Y.H.Wu, and D. Sun, . “Flocking of Micro-Scale Particles with Robotics and Optical Tweezers Technologies,” IEEE/RSJ Conf. Intelligent Robots and Systems, pp. 6155-6160, Taiwan, Oct. 18-22, 2010. (EI)

5. J.Chen,X, Yan, H. Chen, and D. Sun. “Resource Constrained Multirobot Task Allocation with A Leader-Follower Coalition Method,” IEEE Conf. Intelligent Robots and Systems(IROS), Taiwan, 2010. (EI)

4. Y.H. Wu, H. Chen, D. Sun, and W.H. Huang, “Force Characterization of Live Cells in Automated Transportation with Robot-Tweezers Manipulation System,” ICMA, Xi’an, 2010. (EI)

3. H. Chen*, D. Sun, J. Yang, “Global localization of multi-robot formations using ceiling vision SLAM strategy,” 14th Int. Conf. on Mechatronics and Machine Vision in Practice (M2VIP), Xiamen, pp.146-151,December 2007;(EI)

2. H. Chen*, D. Sun, J. Yang, W. Shang, “Orientation Correction Based Monocular SLAM for a Mobile Robot,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Xi’an, pp.1378-1386,July, 2008;(EI)

1. H. Chen*, D. Sun, J. Yang, “A SLAM Based Localization Solution for Indoor Multi-robot Formations,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Singapore, pp.1218-1233,July, 2009;(EI)


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9.  《一种基于三维激光增稠机构的多帧融合方法》,申请号:CN110118974A,2019

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5. 《一种带有柔性抓取器的飞行机械臂》,申请号:CN106985159A, 2017

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