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Journal Papers (2004 - present)


  • Behnam Irani, Jingchuan Wang, and Weidong Chen, “A localizability constraint-based path planning method for autonomous vehicles,” IEEE Trans. on Intelligent Transportation Systems, 2018. DOI: 10.1109/TITS.2018.2868377.
  • Zhe Liu, Weidong Chen, Hesheng Wang, Yun-hui Liu, Yi Shen, and Xiangyu Fu, “A self-repairing algorithm with optimal repair path for maintaining motion synchronization of mobile robot network,” IEEE Transactions on Systems, Man and Cybernetics: Systems, 2018. DOI 10.1109/TSMC.2017.2726104.
  • Fan Xu, Hesheng Wang, Kwok W. Samuel Au, Weidong Chen, and Yanzi Miao, “Underwater dynamic modeling for a cable-driven soft robot arm,” IEEE/ASME Transactions on Mechatronics, 2018, DOI 10.1109/TMECH.2018.2872972.
  • Fan Xu, Hesheng Wang, Weidong Chen, and Jingchuan Wang, “Adaptive visual servoing control for an underwater soft robot,” Assembly Automation, 38(5): 669-677, 2018.
  • Hesheng Wang, Dongliang Zheng, Jingchuan Wang, Weidong Chen, and Jianjun Yuan, “Ego-motion estimation of a quadrotor based on nonlinear observer,” IEEE/ASME Trans. on Mechatronics, 23(3): 1138-1147, 2018.
  • Hesheng Wang, Bohan Yang, Jingchuan Wang, Xinwu Liang, Weidong Chen, and Yun-Hui Liu, “Adaptive visual servoing of contour features”, IEEE/ASME Trans. on Mechatronics, 23(2): 811-822, 2018.
  • Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen, and Zhongliang Jing, “Image-based position control of mobile robots with a completely unknown fixed camera,” IEEE Trans. on Automatic Control, 63(9): 3016-3023, 2018.
  • Dongliang Zheng, Hesheng Wang, Weidong Chen, and Yong Wang, “Planning and tracking in image space for image-based visual servoing of a quadrotor,” IEEE Transactions on Industrial Electronics, 65(4): 3376-3385, 2018.
  • Xinwu Liang, Hesheng Wang, Yun-Hui Liu, Weidong Chen, and Tao Liu, “Formation control of nonholonomic mobile robots without position and velocity measurements,” IEEE Transactions on Robotics (T-RO), 34(2): 434-446, 2018.
  • Hesheng Wang, Jingchuan Wang, Weidong Chen, and Lifei Xu, “Automatic illumination planning for robot vison inspection system,” Neurocomputing, 275: 19-28, 2018.



  • Zhixuan Wei, Weidong Chen, Hesheng Wang, and Jingchuan Wang, “Manipulator motion planning using flexible obstacle avoidance based on model learning,” International Journal of Advanced Robotic Systems, 14(3): 1-12, 2017.
  • Hesheng Wang, Dejun Guo, Hao Xu, Weidong Chen, Tao Liu, and Kam K. Leang “Eye-in-hand tracking control of a free-floating space manipulator,” IEEE Transactions on Aerospace and Electronic Systems, 53(4): 1855-1865, 2017.
  • 倪杭, 王贺升, 陈卫东, “基于软体机器人冗余自由度的实时避障位置控制,” 机器人, 39 (3): 265-271, 2017.
  • Hesheng Wang, Dejun Guo, Xinwu Liang, Weidong Chen, Guoqiang Hu, and Kam K. Leang, “Adaptive vision-based leader-follower formation control of mobile robots,” IEEE Trans. on Industrial Electronics, 64(4): 2893-2902, 2017.
  • Dongliang Zheng, Hesheng Wang, Jingchuan Wang, Siheng Chen, Weidong Chen, and Xinwu Liang, “Image-based visual servoing of a quadrotor using virtual camera approach,” IEEE/ASME Trans. on Mechatronics, 22(2): 972-982, 2017.
  • Hesheng Wang, Runxi Zhang, Weidong Chen, Xiaozhou Wang, and Rolf Pfeifer, “A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals,” Surgical Endoscopy, 31(8):3152-3158, 2017.
  • Hesheng Wang, Chao Wang, Weidong Chen, Xinwu Liang, and Yuting Liu, “Three dimensional dynamics for cable-driven soft manipulator,” IEEE/ASME Trans. on Mechatronics, 22(1): 18-28, 2017.



  • Hesheng Wang, Bohan Yang, and Weidong Chen, “Unknown constrained mechanisms operation based on dynamic interactive control,” CAAI Trans. on Intelligence Technology, 1(3):259-271, 2016.
  • Hesheng Wang, Lifei Xu, and Weidong Chen, “Design and implementation of visual inspection system handed in Tokamak flexible in-vessel robot,” Fusion Engineering and Design, 106: 21–28, 2016.
  • Hesheng Wang, Yingping Lai, and Weidong Chen, “The time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator,” Fusion Engineering and Design, 113: 57–65, 2016.
  • Hesheng Wang, Runxi Zhang, Weidong Chen, Xinwu Liang, and Rolf Pfeifer, “Shape detection algorithm for soft manipulator based on fiber bragg gratings,” IEEE/ASME Trans. on Mechatronics, 21(6): 2977-2982, 2016.
  • Zhe Liu, Hesheng Wang, Weidong Chen, Junzhi Yu, and Jian Chen, “An incidental delivery based method for resolving multirobot pair-wised transportation problems,” IEEE Trans. on Intelligent Transportation Systems, 17(7): 1852-1866, 2016.
  • Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen, and Guoqiang Hu, “Adaptive task-space cooperative tracking control of networked robotic manipulators without task-space velocity measurements”, IEEE Trans. on Cybernetics, 46(10): 2386-2398, 2016.
  • Xinwu. Liang, Yun-hui Liu, Hesheng Wang, Weidong Chen, Kexin Xing, and Tao Liu, “Leader-following formation tracking control of mobile robots without direct position measurements”, IEEE Trans. on Automatic Control, 61(12): 4131-4137, 2016.
  • Zhe Liu, Weidong Chen, Junguo Lu, Hesheng Wang, and Jingchuan Wang, “Formation control of mobile robots using distributed controller with sampled-data and communication delays,” IEEE Trans. on Control Systems Technology, 24(6): 2125-2132, 2016.




  • Hesheng Wang, Weidong Chen, Yinping Lai, and Tao He, “Trajectory planning of Tokamak flexible in-vessel inspection robot,” Fusion Engineering and Design, 98-99: 1678-1682, 2015.
  • Hesheng Wang, Weidong Chen, Lifei Xu, and Tao He, “Vision-based online vibration estimation of the flexible in-vessel inspection robot with Short-time Fourier Transformation,” Fusion Engineering and Design, 98-99: 1683-1687, 2015.
  • Dejun Guo, Hesheng Wang, Weidong Chen, Xinwu Liang, "Adaptive image-based leader-follower approach of mobile robot with omnidirectional camera," Journal of Applied Mathematics, Volume 2015 (2015), Article ID 194251, 2015.
  • Xinwu Liang, Hesheng Wang, Weidong Chen and Dejun Guo, "Adaptive image-based trajectory tracking control of wheeled mobile robots with an uncalibrated fixed camera," IEEE Trans. on Control Systems Technology, 23(6): 2266-2282, 2015.
  • Xinwu Liang, Hesheng Wang, Yun-hui Liu, Weidong Chen and Jie Zhao, "A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration," Automatica, 59: 97-105, 2015.
  • Hesheng Wang, Yinping Lai, Weidong Chen and Qixin Cao, “Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel,” Fusion Engineering and Design, 101: 111–123, 2015. (IF 1.152)
  • Jingchuan Wang, Ming Yang, Weidong Chen, “Research on localization and alignment technology for transfer cask”, Fusion Engineering and Design, 96-97: 378-382, 2015.
  • Jingchuan Wang, Li Liu, Zhe Liu, Weidong Chen, "Multilayer matching SLAM for large-scale and spacious environments", International Journal of Advanced Robotic Systems, 12: 124, 2015.
  • 张晗, 陈卫东, 王景川, “多机器人探索系统的人机共享控制,” 机器人, 2015, 37(1):17-24.
  • 王勇, 陈卫东, 王景川, 肖鹏, “面向动态高遮挡环境的移动机器人自适应位姿跟踪算法,” 机器人, 2015, 37(1): 112-121.
  • Yong Wang, Weidong Chen, Jingchuan Wang, and Hesheng Wang, “Active global localization based on localizability for mobile robots,” Robotica, 33(8): 1609-1627, 2015.



  • Nevrez Imamoglu, Enrique Dorronzoro, Zhixuan Wei, Huangjun Shi, Masashi Sekine, Jose Gonzalez, Dong-Yun Gu, Weidong Chen and Wenwei Yu, "Development of robust behaviour recognition for an at-home biomonitoring robot with assistance of subject localization and enhanced visual tracking," The Scientific World Journal, Volume 2014 (2014), Article ID 280207. 
  • Jingchuan Wang, Weidong Chen, “An improved extended information filter SLAM algorithm based on omnidirectional vision,” Journal of Applied Mathematics, Volume 2014, 2014. Article ID 948505.
  • 张晓颖, 李德伟, 席裕庚, 陈卫东, “六自由度机械臂约束预测控制系统的设计,” 控制理论与应用, 31(11): 1464-1472, 2014. 
  • 屈云飞, 陈卫东, 曹其新, “面向托卡马克第一壁检测的超冗余机械臂运动学分析,” 上海交通大学学报, 48(7): 922-928, 2014.
  • 李梁, 王贺升, 陈卫东, “受限网络带宽下遥操作机器人的视频传输控制,”上海交通大学学报, 48(12): 1700-1707, 2014. 
  • Yong Wang, Weidong Chen, Jingchuan Wang, “Map-based localization for mobile robots in high-occluded and dynamic environments,” Industrial Robot: An International Journal, 41(3): 241-252, 2014.
  • Yingdong Ma, Junguo Lu, and Weidong Chen, “Robust stability and stabilization of fractional order linear systems with positive real uncertainty,” ISA Transactions, 53 (2): 199–209, 2014.
  • Yingdong Ma, Junguo Lu, Weidong Chen, and Yangquan Chen, “Robust stability bounds of uncertain fractional-order systems,” Fractional Calculus and Applied Analysis, 17(1): 136–153, 2014.
  • 唐恒博, 陈卫东, 王景川, “基于多元M序列的人工路标设置方法,” 机器人, 36(1): 29-35, 2014.
  • Xinwu Liang, Hesheng Wang, Weidong Chen, Yun-hui Liu, “Uncalibrated image-based visual servoing of rigid-link electrically driven robotic manipulators,” Asian Journal of Control, 16(3): 714-728, 2014.



  • 陈卫东, 韩兵, 杨明, 王景川, 卢俊国, “运动控制系统课程体系改进与创新,” 实验室研究与探索, 32(9): 157-159, 2013.
  • Junguo Lu, Yingdong Ma, Weidong Chen, “Maximal perturbation bounds for robust stabilizability of fractional-order systems with norm bounded perturbations,” Journal of the Franklin Institute, 350(10): 3365-3383, 2013.
  • Zhixuan Wei, Weidong Chen, Jingchuan Wang, “Semantic mapping for smart wheelchair using RGB-D camera,” A Special Section on ME (Medical Engineering) Week 2012 in Chiba, Journal of Medical Imaging and Health Informatics, 3(1): 94-100, 2013.
  • Xin-Zhi Zheng, Weidong Chen, Hesheng Wang, Maokui Jiang and Toshi Takamori, “A proposal for an active cord-Like searching system- mechanisms, kinematics, sensing, and control,” Transactions of the Society of Instrument and Control Engineers (Trans. SICE), 49(1): 142-148, 2013 (in Japanese).
  • Yunhui Liu, Hesheng Wang, Weidong Chen, Dongxiang Zhou, “Adaptive visual servoing using common image features with unknown geometric parameters,” Automatica, 49(8): 2453-2460, 2013.
  • 唐恒博, 陈卫东, 王景川, 刘帅, 李国波, 赵洪丹, “高精度高鲁棒性的轨道机器人全局定位方法,” 机器人, 35(5): 623-629, 2013. 
  • Junguo Lu, Yangquan Chen, Weidong Chen, “Robust asymptotical stability of fractional-order linear systems with structured perturbations,” Computers & Mathematics with Applications, 66(5): 873-882, 2013.



  • Junguo Lu, Jizhong Xiao, Weidong Chen, “Quadratic stability and stabilization of matrix second-order time-varying systems,” International Journal of Robust and Nonlinear Control, 22: 2100-2110, 2012.
  • 王勇, 陈卫东, 王景川, 王炜, “面向拥挤环境的移动机器人改进粒子滤波定位,” 机器人, 34(5): 596-603, 2012.
  • Yi Zhang, Weidong Chen, Steven Su, and Branko Celle, “Nonlinear modelling and control for heart rate response to exercise,” International Journal of Bioinformatics Research and Applications, 8(5-6): 397-416, 2012.
  • Hesheng Wang, Maokiu Jiang, Weidong Chen and Yun-hui Liu, “Visual servoing of robots with uncalibrated robot and camera parameters,” Mechatronics, 22(6): 661-668, 2012.
  • Hesheng Wang, Yun-hui Liu, and Weidong Chen, “Visual tracking of robots in uncalibrated environments,” Mechatronics, 22(4): 390-397, 2012.
  • 王炜, 陈卫东, 王勇, “基于概率栅格地图的移动机器人可定位性估计,” 机器人, 34 (4): 485-491,512, 2012.
  • Steven W. Su, Brian D.O. Anderson, Weidong Chen, Hung Nguyen, “Multi-realization of nonlinear systems,” Automatica, 48(7): 1455-1461, July 2012.
  • Junguo Lu, Jizhong Xiao, Weidong Chen, “Maximal perturbation bounds for robust alpha-stability of matrix second-order systems with one-parameter perturbations,” Automatica, 48(5): 995-998, 2012.
  • Fanwei Kong, Liang Yuan, Yuan F. Zheng, and Weidong Chen, “Automatic liquid handling for life science: a critical review of the current state of the art,” Journal of Laboratory Automation, 17(3): 169-186, June 2012.
  • 王景川, 方毅, 陈卫东, “移动机器人定位的自适应功率调节射频识别系统,” 上海交通大学学报, 46(2): 207-212, 2012.



  • 孙逸翔, 陈卫东, “基于运动预测和阻抗控制的未知受限机构操作,” 机器人, 33(5): 563-569, 2011.
  • Jian Li and Weidong Chen, “Energy-efficient gait generation for biped robot based on the passive inverted pendulum model,” Robotica, 29: 595–605, 2011.
  • Hesheng Wang, Yun-hui Liu, Weidong Chen and Zhongli Wang, “A new approach to dynamic eye-in-hand visual tracking using nonlinear observers,” IEEE/ASME Trans. on Mechatronics, 16(2): 387-394, 2011.
  • 黄云天, 陈卫东, 孙逸翔, “基于碰撞检测的护理型操作臂的安全性设计与实现,” 机器人, 33(1): 40-45, 2011.



  • 李建, 陈卫东, 王丽军, 高雪官, 杨军, 李慕君, “未知不平整地面上的双足步行稳定控制,”电子学报, 38(11): 2669-2674, 2010.
  • Hesheng Wang, Yun-hui Liu and Weidong Chen “Uncalibrated visual tracking control without visual velocity,” IEEE Trans. on Control System Technology, 18(6): 1359-1370, 2010.
  • 王丽军, 王景川, 陈卫东, “动态环境下智能轮椅的规划与导航,” 上海交通大学学报, 44(11): 1524-1528, 2010.
  • 王景川, 陈卫东, 张栩, “一种鲁棒的室外移动机器人路标定位系统,” 上海交通大学学报, 44(9): 1181-1186, 2010.
  • Liang Yuan, Yuan F. Zheng and Weidong Chen, “Efficient micromixing of a highly viscous biosample with water using orbital shaking and microchannels,” Review of Scientific Instruments, 81(5), 054301-1-9, 2010.
  • H. Dong, J. Tang, W. Chen, A. Nagano, and Z. Luo, “Novel information matrix sparsification approach for practical implementation of simultaneous localization and mapping,” Advanced Robotics, 24(5-6): 819-838, 2010.
  • 张飞, 陈卫东, “移动机器人编队自修复的切换拓扑控制,” 控制理论与应用, 27(3), 2010.
  • S. W. Su, W. Chen*, D. Liu, Y. Fang, W. Kuang, X. Yu, T. Guo, B. Celler, H. Nguyen, “Dynamic modelling of heart rate response under different exercise intensity,” Special Issue on Data mining techniques in Medical Informatics, The Open Medical Informatics Journal, 4:81-85, 2010.
  • 王景川, 陈卫东, 胡仕煜, 张栩, “基于近红外视觉的机器人室外定位系统,” 机器人, 32(1): 97-103, 2010.



  • Fei Zhang and Weidong Chen, “Relay switched, scalable topology control for mobile robot networks based on motion synchronization,” High Technology Letters (English Edition), 15(4): 401-408, 2009.
  • 王召莉, 陈卫东, “基于关节空间评估的机器人作业单元布局优化,” 上海交通大学学报, 43(11): 1762-1766, 2009.
  • Fei Zhang, Yugeng Xi, Zongli Lin, and Weidong Chen, “Constrained motion model of mobile robots and its applications,” IEEE Transactions on Systems, Man, and Cybernetics: Part B: Cybernetics, vol. 39, no. 3, pp. 773-787, 2009.



  • Kunfeng Ge, Weidong Chen, Jingchuan Wang and Yuyao Ran, “Scan matching using line segment relationships for map-based localization of mobile robot,” Journal of Harbin Institute of Technology (New Series), vol. 15, no. 6, pp. 757-762, 2008.
  • 项彬彬, 陈卫东, 亓利伟, 张丹丹, “基于遗传算法的机器人作业单元布局优化,” 上海交通大学学报, 42(10): 1697-1701, 2008.
  • 许俊勇, 王景川, 陈卫东, “基于全景视觉的移动机器人同步定位与地图创建研究,” 机器人, 30(4): 289-297, 2008.
  • 董海巍, 陈卫东, “基于稀疏化的快速扩展信息滤波SLAM算法,” 机器人, 30(3): 193-200, 2008.



  • Bo Sun, Weidong Chen and Yugeng Xi, “A general-purpose application platform for multiple heterogeneous mobile robots,” Dynamics of Continuous, Discrete and Impulsive Systems, Series B: Applications and Algorithms, vol. 14(S1): 89-96, 2007.
  • 张小冰, 陈卫东, 曹其新, “面向服务机器人的简易编程环境设计,” 上海交通大学学报, 41(11): 1811-1815, 2007.
  • 陈卫东, “微型移动机器人集群系统研究进展,” 上海电机学院学报, 10 (2): 81-85, 2007.
  • Yuan F. Zheng and Weidong Chen, “Robot team forming for crystallization of proteins,” Autonomous Robots, vol. 23, no. 1, pp. 69-78, 2007.
  • 郑宏, 王景川, 陈卫东, “基于地图的移动机器人自定位与导航系统,” 机器人, 29 (4): 397-402, 2007.
  • 张学工, 邹怀武, 陈卫东, “并联六自由度对接平台运动学标定方法研究,” 宇航学报, 28 (2 ): 273-277, 2007.



  • Liang Yuan, Weidong Chen and Yugeng Xi, “Energy-efficient aggregation control for mobile sensor networks, ” Intelligent Control and Automation, Lecture Notes in Control and Information Sciences, vol. 344, pp. 188-193, Springer-Verlag, 2006.
  • Xi Yang, Weidong Chen, Yuan F. Zheng and Tao Jiang, “Image-based classification automating protein crystal identification,” Intelligent Computing in Signal Processing and Pattern Recognition, Lecture Notes in Control and Information Sciences, vol. 345, pp. 932-937, Springer-Verlag, 2006.
  • 鲍贤捷, 陈卫东, 曹其新, “机器人图标化编程环境的设计及实现,” 机器人, 28 (6): 617-622, 2006.
  • 潘良晨, 陈卫东, “室内移动机器人的视觉定位方法研究,” 机器人, 28(5): 504-509, 2006.



  • Bo Sun, Weidong Chen and Yugeng Xi, “Team-oriented programming for multiple mobile robots,” High Technology Letters (English Edition), vol. 11, no. 4, pp. 410-414, 2005.
  • Jianqiang Jia, Weidong Chen, Yugeng Xi, “Design and implementation of IPC-based control system for mobile robots,” High Technology Letters (English Edition), vol. 11, no. 2, pp. 183-188, 2005.
  • 贾建强, 陈卫东, 席裕庚, “开放式自主移动机器人系统设计与控制实现,” 上海交通大学学报, 39(6): 905-909, 2005.
  • 李冬梅, 陈卫东, 席裕庚, “基于强化学习的多机器人合作行为获取,” 上海交通大学学报, 39(8): 1331-1335, 2005.
  • 孙波, 陈卫东, 席裕庚, “基于粒子群优化算法的移动机器人全局路径规划,” 控制与决策, 20(9): 1052-1055, 1060, 2005.
  • 张飞, 陈卫东, 席裕庚, “多机器人协作探索的改进市场法,” 控制与决策, 20(5):  516-520, 524, 2005.
  • 张尧, 陈卫东, “一个基于全景视觉的移动机器人导航系统的设计与实现,” 机器人, 27 (2): 173-177, 2005.
  • 陈卫东, 张飞, “移动机器人的同步自定位与地图创建研究进展,” 控制理论与应用, 22 (3): 455-460, 2005.
  • Changhong Fan, Weidong Chen and Yugeng Xi, “Behavior-based implicit planning method and its application to robot soccer system,” High Technology Letters (English Edition), vol.11, no. 1, pp. 41-46, 2005.
  • 王景川, 陈卫东, 曹其新, “基于全景视觉与里程计的机器人自定位方法研究,” 机器人, 27 (1): 41-45, 2005.



  • 叶道年, 陈卫东, “机器人团队协作的强化学习,” 控制理论与应用, 21(增刊): 6-9, 2004
  • 樊长虹, 陈卫东, 席裕庚, “未知环境下移动机器人安全路径规划的一种神经网络方法,” 自动化学报, 30 (6): 816-823, 2004.
  • 陈卫东, 顾冬雷, 席裕庚, “基于多模式交互的多机器人分布式合作系统,” 自动化学报, 30 (5): 671-678, 2004.
  • 樊长虹, 陈卫东, 席裕庚, “动态未知环境下一种神经网络路径规划方法,” 控制理论与应用, 21(3): 345-350, 2004.
  • 贾建强, 陈卫东, 席裕庚, “基于有限状态机的足球机器人行为设计与综合,” 高技术通讯, 14(4): 61-65, 2004.
  • 张卫星, 陈卫东, “基于WLAN的多机器人信息交互与行为协调,” 机器人, 26(3): 226-231, 2004.
  • 黄永志, 陈卫东, “两轮移动机器人运动控制系统的设计与实现,” 机器人, 26(1): 40-44, 2004.
  • 张荣, 陈卫东, “基于强化学习的倒立摆起摆与平衡的全过程控制,”系统工程与电子技术, 26(1): 72-76, 2004.
  • Jianqiang Jia, Weidong Chen and Yugeng Xi, “A rule-driven autonomous robotic system operating in a time-varying environment,” RoboCup 2003: Robot Soccer World Cup VII, Lecture Notes in Computer Science, vol. 3020, pp. 487-494, Springer, 2004.