Xiaoming Hu's Homepage

Xiaoming Hu
Professor, Ph. D

Optimization and Systems Theory
Royal Institute of Technology
SE-100 44 Stockholm, Sweden
Email: hu@kth.se
Tel: +46-8-790 7180
Fax: +46-8-22 53 20
Visiting address: Room 3712, Lindstedtsv. 25

Xiaoming Hu 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.

Undergraduate teaching:

• SF2832 Mathematical Systems Theory (Period 3, 2010/2011)
• SF2842 Geometric Control Theory (Fall 2011)

Graduate teaching:

• 5B5770 Nonlinear Systems Analysis
• 5B5760 Introduction to Nonlinear Control Systems
• SF3862 Nonlinear Systems: Analysis and Control (Spring 2010)

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 Directions and 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, Springer-Verlag, 2007.
• 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 press. doi:10.1016/j.robot.2010.03.015.
• Optimal Output Consensus Control and Outlier Detection (with J. Thunberg), Proc. MTNS, Bupdapest, 2010.
• Observer-based Tracking Problem of Leader-follower Multi-agent Systems (with J. Wang), Proc. Chinese Control Conference, Beijing, 2010.
• 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.