陆文杰 - 哈尔滨工业大学（深圳） - 机电工程与自动化学院

个人简介

陆文杰：博士毕业于杜克大学，现为哈尔滨工业大学（深圳）机电工程学院助理教授，主要从事智能机器人规划与控制理论与技术研究。内容包括：1) 基于经验的障碍物感知快速路径规划；2）扰动模型在线估计强化学习控制；3）内嵌算法的神经网络结构及其分析；4）神经网络控制系统的解释与分析；（5）自适应控制算法的学习；（6）水下机器人及其工程应用。教育 2005-2009，浙江大学，机械电子工程硕士 2009-2011，杜克大学，机械工程硕士 2009-2014，杜克大学，机械工程博士

研究领域

我的研究可以分别分为高效规划和控制。在这两个组中，研究已从单个MDP / POMDP转移到了多个MDP / POMDP。我以前的研究（规划和控制）是针对复杂问题（单个MDP / POMDP）设计易于处理的公式/算法。在我最近的研究（规划和控制）中，机器学习技术大量参与了使用提炼的经验来有效解决新问题的过程。多个MDP / POMDP的经验和新问题。

近期论文

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J. Woolfrey, W. Lu and D.K. Liu, "Predictive Control of Manipulators Operating on Moving Platforms Under Disturbance," IEEE Transactions on Robotics. Indexing SCI, impact factor 6.48, Q1. W. Lu and D.K. Liu, "A2: Extracting Cyclic Switchings from DOB-nets for Rejecting Excessive Disturbances," Neurocomputing, in press, 2020. Indexing SCI, impact factor 4.072, Q1. P. Dai, W. Lu, K. Le, and D.K. Liu, "Sliding Mode Impedance Control for Contact Intervention of an I-AUV: Simulation and Experimental Validation," Ocean Engineering, Volume 196, 2020, 106855. Indexing SCI, Q1. H. Yu, W. Lu, Y. Han, D. Liu and M. Zhang, "Heterogeneous Dimensionality Reduction for Efficient Motion Planning in High-Dimensional Spaces," in IEEE Access, vol. 8, pp. 42619-42632, 2020. Indexing SCI, impact factor 4.098, Q1. W. Lu and D.K. Liu, "A Scalable Sampling-Based Optimal Path Planning Approach via Search Space Reduction," IEEE Access, vol. 7, pp. 153921-153935, 2019. Indexing SCI, impact factor 4.098, Q1. J. Woolfrey, W. Lu and D.K. Liu, "Clarifying Clairvoyance: Analysis of Forecasting Models for Near-Sinusoidal Periodic Motion As Applied To AUVs in Shallow Bathymetry ," Ocean Engineering, vol.190, pp.106385-106398. Oct. 2019. Indexing SCI, impact factor 2.73, Q1. H. Yu, W. Lu, and D.K. Liu, "Speeding Up Gaussian Belief Space Planning Through a Covariance Upper Bound for Underwater Robots," IEEE Access, vol. 7, pp.121961-121974, Aug. 2019. Indexing SCI, impact factor 4.098, Q1. J. Woolfrey, W. Lu, and D.K. Liu, "A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces," Journal of Intelligent and Robotic Systems, pp. 1-14, 2019. Second author. Indexing SCI, impact factor 2.02, Q3. W. Lu, P. Zhu and S. Ferrari, "A Hybrid-Adaptive Dynamic Programming Approach for the Model-Free Control of Nonlinear Switched Systems," IEEE Transactions on Automatic Control, vol. 61, no. 10, pp. 3203-3208, Oct. 2016. First author. Indexing SCI, impact factor 5.09, Q1. H. Wei, W. Lu, P. Zhu, S. Ferrari, M. Liu, R. H. Klein, and J. How, "Information Value in Nonparametric Dirichlet-process Gaussian-process (DPGP) Mixture Models," Automatica, no. 74, pp. 360-368, 2016. Indexing SCI, impact factor 6.36, Q1. W. Lu, G. Zhang, and S. Ferrari, "An Information Potential Approach to Integrated Sensor Path Planning and Control," IEEE Transactions on Robotics, vol. 30, no.4, pp. 919-934, 2014. First author. Indexing SCI, impact factor 6.48, Q1. W. Lu, G. Zhang, S. Ferrari, M. Anderson, and R. Fierro, "A Particle-Filter Information Potential Method for Tracking and Monitoring Maneuvering Targets using A Mobile Sensor Agent," The Journal of Defense Modeling and Simulation: Applications, Methodology, Technology, vol. 11, no. 1, pp. 47-58, 2014. First author. W. Lu and M. Hu, "Disturbance-aware Reinforcement Learning for Rejecting Excessive Disturbances," neurocomputing, submitted. T. Wang, W. Lu and D.K. Liu, "Sim-to-Real Transfer with Online Identification and Rejection of Excessive Time-Varying Disturbances," IEEE Transactions on Industrial Informatics, in submission. Conference Papers T. Wang, W. Lu, and D.K. Liu, "DOB-Net: Actively Rejecting Unknown Excessive Time-Varying Disturbances," International Conference on Robotics and Automation, 2020. H. Yu, W. Lu, and D.K. Liu, "An Unified Closed-Loop Motion Planning Approach for I-AUV Under Uncertainties in Cluttered Environment," International Conference on Robotics and Automation, 2019. Montreal, QC, Canada, 2019, pp.4646-4652. T. Wang, W. Lu and D.K. Liu, "Excessive Disturbance Rejection Control of Autonomous Underwater Vehicle using Reinforcement Learning," Australasian Conference on Robotics and Automation, 2018. W. Lu and D.K. Liu, "A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems Under Large Wave Disturbances," 13th World Congress on Intelligent Control and Automation (WCICA), IEEE, 2018. First author. Indexing EI. T. Wang, W. Lu and D.K. Liu, "A Case Study: Modelling of A Passive Compliant Link on A Floating Platform for Intervention Tasks," 13th World Congress on Intelligent Control and Automation (WCICA), IEEE, 2018. Second author. Indexing EI. W. Lu and D.K. Liu, "Active Task Design in Adaptive Control of Redundant Robotic Systems," Australasian Conference on Robotics and Automation, 2017. D. Shen, W. Lu, W. Xiong, G. Wang, X. Tian, K. Pham, E. Blasch, and G. Chen, "A distributed-towarddecentralized satellite communications (satcom) decision making approach," SPIE Defense, Security, and Sensing, International Society for Optics and Photonics, 2016. H. Wei, W. Lu, S. Ferrari, R. Klein, S. Omidshafiei, and J. How, "Camera control for learning nonlinear target dynamics via bayesian non-parametric dirichlet-process gaussian-process (dp-gp) models," IEEE International Conference on Intelligent Robots and Systems, pp. 95-102, 2014. Second author, contribution equal to the first author. Indexing EI. H. Wei, W. Lu, P. Zhu, S. Ferrari, G. Huang, and J. Leonard, "Visibility-based motion planning for active target tracking and localization," IEEE International Conference on Intelligent Robots and Systems, pp. 76-82, 2014. Second author, contribution equal to the first author. Indexing EI. A. Bellini, W. Lu, R. Naldi, and S. Ferrari, "Information driven path planning and control for collaborative aerial robotic sensors using artificial potential functions," American Control Conference, pp. 590-597, 2014. Second author. Indexing EI. W. Lu and S. Ferrari, "An approximate dynamic programming approach for modelfree control of switched systems," IEEE Conference on Decision and Control, pages 3837-3844, 2013. First author. Indexing EI. P. Cruz, R. Fierro, W. Lu, and S. Ferrari, "Maintaining robust connectivity in heterogeneous robotic networks," In SPIE Defense, Security, and Sensing, pp. 87410-87410. International Society for Optics and Photonics, 2013. Indexing EI. D. Zielinski, R. McMahan, W. Lu, and S. Ferrari, "Ml2vr: providing matlab users an easy transition to virtual reality and immersive interactivity," IEEE Virtual Reality (VR), pages 83{84, 2013. Third author. Indexing EI. D. Zielinski, R. Regis, R. McMahan, W. Lu, and S. Ferrari, "Intercept Tags: Enhancing Intercept-based Systems," 19th ACM Symposium on Virtual Reality Software and Technology, 2013. Third author. Indexing EI. W. Lu, S. Ferrari, R. Fierro, and T. A. Wettergren, "Approximate dynamic programming recurrence relations for a hybrid optimal control problem," proceedings of the Society of Photographic Instrumentation Engineers, Unmanned Systems Technology XIV, 2012. First author. Indexing EI. W. Lu, G. Zhang, and S. Ferrari, "A comparison of information theoretic functions for tracking maneuvering targets," IEEE Statistical Signal Processing Workshop (SSP), pp. 149-152, 2012. First author. Indexing EI. W. Lu, H. Wei, and S. Ferrari, "A kalman-particle filter for estimating the number and state of multiple targets," Proceedings of International Conference on Management Sciences and Information Technology, 2012. First author. W. Lu, G. Zhang, S. Ferrari, R. Fierro, and I. Palunko. "An information potential approach for tracking and surveilling multiple moving targets using mobile sensor agents," SPIE Defense, Security, and Sensing, pp. 80450-80450, 2011. First author. Indexing EI. S. Ferrari, M. Anderson, R. Fierro, and W. Lu, "Cooperative navigation for heterogeneous autonomous vehicles via approximate dynamic programming," IEEE Decision and Control Conference, pp. 121-127, 2011. Last author. Indexing EI. W. Lu, G. Zhang, and S. Ferrari, "A randomized hybrid system approach to coordinated robotic sensor planning," IEEE Conference on Decision and Control, pp 3857{3864, 2010. First author. Indexing EI.