Publications  
 
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Journal Articles

[1] Fumin Zhang and P. S. Krishnaprasad, “Co-ordinated Orbit Transfer of Satellite Clusters,” Astrodynamics, Space Missions, and Chaos, Annals of the New York Academy of Sciences,1017:112-137, May, 2004.  Available online [bibtex]

[2] Fumin Zhang and N. E. Leonard, “Coordinated Patterns of Unit Speed Particles on a Closed Curve,Systems and Control Letters, 56(6):397-407, 2007. Preprint [bibtex]

[3] Fumin Zhang, D. M. Fratantoni, D. Paley, J. Lund, N. E. Leonard, “Control of Coordinated Patterns for Ocean Sampling,International Journal of Control, 80(7):1186-1199, special issue on the Navigation, Guidance and Control of Uninhabited Underwater Vehicles, 2007. Preprint [bibtex] Demos

[4] D. Paley, Fumin Zhang  and N. E. Leonard, “Cooperative Control for Ocean Sampling: The Glider Coordinated Control System,IEEE Transactions on Control System Technology, 16(4):735-744, 2008. Preprint [bibtex]

[5] J. Kim, Fumin Zhang, and M. Egerstedt, “Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors,Journal of Intelligent and Robotic Systems, 56(1-2):177-197, 2009. Preprint [bibtex].

[6] Fumin Zhang and N. E. Leonard, “Cooperative Control and Filtering for Cooperative Exploration,IEEE Transactions on Automatic Control , 55(3):650-663, 2010. Preprint [bibtex].

[7] Fumin Zhang, “Geometric Cooperative Control of Particle Formations,IEEE Transactions on Automatic Control, 55(3):800-803, 2010. Preprint [bibtex]

[8] J. Kim, Fumin Zhang, and M. Egerstedt, “A Provably Complete Exploration Strategy by Constructing Voronoi Diagrams,Autonomous Robots, 29(3): 367-380, 2010. Available online [bibtex]

[9] N. E. Leonard, D. A. Paley, R. E. Davis, D. M. Fratantoni, F. Lekien, and Fumin Zhang, “Coordinated Control of an Underwater Glider Fleet in an Adaptive Ocean Sampling Field Experiment in Monterey Bay,Journal of Field Robotics, 27(6): 718-740, 2010. Available online [bibtex]

[10] W. Wu and Fumin Zhang, “Cooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields,” Automatica, the IFAC Journal, 47(9):2044-2051, 2011. Available online [bibtex]

[11] M. Malisoff, F. Mazenc, and Fumin Zhang, “Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability,” IEEE Transactions on Automatic Control, 57(5):1320-1326, 2012. Available online [bibtex]

[12] H. Yang and Fumin Zhang, “Robust Control of Formation Dynamics for Autonomous Underwater Vehicles in Horizontal Plane,” ASME Journal of Dynamic Systems, Measurement and Control, 134(3): 031009 (7 pages), 2012. Available online [bibtex]

[13] W. Wu and Fumin Zhang, “Robust Cooperative Exploration with a Switching Strategy,” IEEE Transactions on Robotics, 28(4):828-839, 2012. Available Online [bibtex]

[14] S. Zhang, J. Yu, A. Zhang, and Fumin Zhang, “Spiraling Motion of Underwater Gliders: Modeling, Analysis,  and Experimental Results,” Ocean Engineering, 60: 1-13, 2013. Available online [bibtex]

[15] J. Yu, Fumin Zhang, A. Zhang, W. Jin, and Y. Tian, “Motion Parameter Optimization and Sensor Scheduling for the Sea-Wing Underwater Glider,” IEEE Journal of Oceanic Engineering, 38(2):243-254, 2013. Available online [bibtex]

[16] W. Wu and Fumin Zhang, "A Switching Strategy for Target Tracking by Mobile Sensing Agents," Journal of Communications, 8(1): 47-54, 2013. Available online [bibtex]

[17] Fumin Zhang, Z. Shi, and S. Mukhopadhyay “Robustness Analysis of Battery Supported Cyber-Physical Systems,” ACM Transactions on Embedded Computing Systems, 12(3): 69 (27 pages), 2013. (arXiv:1111.5880v1), Available online [bibtex]

[18] M. Malisoff and Fumin Zhang, “Adaptive Control for Planar Curve Tracking under Controller Uncertainty,” Automatica, the IFAC Journal, 49(5):1411-1418, 2013. Available online [bibtex]

[19] H. Yang, C. Wang and Fumin Zhang, “Robust Formation Control of Autonomous Underwater Vehicles with Time Delays,” IET Control Theory & Applications, 7(15):1950-1958, 2013. Available online [bibtex]

[20] K. Szwaykowska and Fumin Zhang, “Trend and Bounds for Error Growth in Controlled Lagrangian Particle Tracking,” IEEE Journal of Oceanic Engineering, 39(1): 10-25, 2014. Available online Preprint [bibtex]

[21] S. Mukhopadhyay and Fumin Zhang, “A High-Gain Adaptive Observer for Detecting Li-Ion Battery Terminal Voltage Collapse,” Automatica, the IFAC Journal, 50(3):896-902, 2014. Available online [bibtex]

[22] F. Zhang, Fumin Zhang, and X-B. Tan, "Tail-enabled Spiraling Maneuver for Gliding Robotic Fish,"ASME Journal of Dynamic Systems, Measurement and Control, in press, 2014. Available online [bibtex]

 

 
Book Chapters

[1] Fumin Zhang, E. W. Justh, and P. S. Krishnaprasad, "Boundary Tracking and Obstacle Avoidance Using Gyroscopic Control," Recent Trends in Dynamical Systems, Springer Proceedings in Mathematics & Statistics. Volume 35, 417-446, 2013. Available online [bibtex]

[2] D. Chang, X. Liang, W. Wu, C. R. Edwards, and Fumin Zhang, "Real-Time Modeling of Ocean Currents for Navigating Underwater Glider Sensing Networks," Cooperative Robots and Sensor Networks, Studies in Computational Intelligence, Volume 507, pp 61-75, 2014. Available online [bibtex]

 

Peer Reviewed Conference Papers
Premium Computer Science Conferences

[1] Fumin Zhang, K. Szwaykowska, V. Mooney, and W. Wolf, “Task Scheduling for Control Oriented Requirements for Cyber-Physical Systems," in Proc. of IEEE Real-Time Systems Symposium (RTSS 2008), 47-56, 2008. Preprint [bibtex]

[2] X. Liang, W. Wu, D. Chang,and Fumin Zhang, “Real-time Modelling of Tidal Current for Navigating Underwater Glider Sensing Networks,” Procedia Computer Science, 10:1121-1126, 2012. Available online [bibtex]

[3] Z. Shi, and Fumin Zhang, “An Analytical Model of the CAN Bus for Online Schedulability Test,” in Proc. of the Third Analytic Virtual Integration of Cyber-Physical Systems Workshop (AVICPS), held in conjunction with the 33rd IEEE Real-Time Systems Symposium (RTSS2012), 2012. Preprint [bibtex]

[4] Z. Shi and Fumin Zhang, “Predicting Time-Delays under Real-time Scheduling for Linear Model Predictive Control,” in Proc. 2013 International Conference on Computing, Networking and Communication Workshops: the International Workshop on Cyber-Physical System(CPS) and Its Computing and Network Design, 205-209, 2013. Preprint [bibtex]

[5] W. Wu, D. Chang, and Fumin Zhang, “Glider CT: Reconstructing Flow Fields from Predicted Motion of Underwater Gliders,” in Proceedings of the Eighth ACM International Conference on Underwater Networks and Systems (WuWNet'13), Article No. 47, 2013. Available online [bibtex]

 

Electrical Engineering and Robotics Conferences

[48] M. Malisoff and Fumin Zhang, “An Adaptive Control Design for 3D Curve Tracking based on Robust Forward Invariance,” in Proc. of 52nd IEEE Conference on Decision and Control (CDC 2013), pp 4473-4478, 2013. Preprint [bibtex]

[47] W. Wu, D. Chang, and Fumin Zhang, “A Bio-inspired 3D Plume Tracking Strategy Using Mobile Sensor Networks,” in Proc. of 52nd IEEE Conference on Decision and Control (CDC 2013), pp 4571-4578, 2013. Preprint [bibtex]

[46] P. Varnell and Fumin Zhang, "Dissipativity-Based Teleoperation with Time-Varying Communication Delays," Proc. 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys'13), 369-376, 2013. Preprint [bibtex]

[45] W. Wu, Fumin Zhang, and Y. Wardi, "Energy-Information Tradeoffs in Motion and Sensing for Target Localization," Proc. of 2013 European Control Conference (ECC 2013), 1250-1255, 2013. Preprint [bibtex]

[44] M. Malisoff and Fumin Zhang, "Robustness of a Class of Three-Dimensional Curve Tracking Control Laws under Time Delays and Polygonal State Constraints," Proc. 2013 American Control Conference (ACC 2013), 5710-5715, 2013. Preprint [bibtex]

[43] H. Yang, C. Wang, and Fumin Zhang, "Robust Geometric Formation Control of Multiple Autonomous Underwater Vehicles with Time Delays," in Proc. 2013 American Control Conference (ACC 2013), 1382-1387, 2013. Preprint [bibtex]

[42] K. Szwaykowska and Fumin Zhang, "Controlled Lagrangian Particle Tracking Error Under Biased Flow Prediction," in Proc. 2013 American Control Conference (ACC 2013), 2581-2586, 2013. Preprint [bibtex]

[41] D. Chang, W. Wu, D. Webster, M. Weissburg, and Fumin Zhang, "A Bio-inspired Plume Tracking Algorithm for Mobile Sensing Swarms in Turbulent Flow," in Proc. 2103 IEEE International Conference on Robotics and Automation (ICRA 2013), 921-926, 2013. Preprint [bibtex]

[40] S. Mukhopadhyay and Fumin Zhang, “Adaptive Detection of Terminal Voltage Collapses for Li-Ion Batteries,” in Proc. 51st IEEE International Conference on Decision and Control (CDC 2012), 4799-4804, 2012. Preprint [bibtex]

[39] W. Wu and Fumin Zhang, “Coherent Steps of Mobile Sensing Agents in Gaussian Scalar Fields,” in Proc. 51st IEEE International Conference on Decision and Control (CDC 2012), 2814-2819, 2012. Preprint [bibtex]

[38] S. Mukhopadhyay, C. Wang, S. Bradshaw, S. Maxon, M. Patterson, and Fumin Zhang, “Controller Performance of Marine Robots in Reminiscent Oil Surveys,” in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 1766-1771, 2012. Preprint [bibtex]

[37] F. Zhang, Fumin Zhang, and X-B. Tan, “Steady Spiraling Motion of Gliding Robotic Fish,” in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 1754-1759, 2012. Preprint [bibtex]

[36] W. Wu, I. D. Couzin, and Fumin Zhang, “Bio-inspired Source Seeking with no Explicit Gradient Estimation” in Proc. 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys’12), 240-245, 2012. Preprint [bibtex]

[35] M. Malisoff and Fumin Zhang, “Adaptive Controllers and Robustness Analysis for Curve Tracking with Unknown Control Gains,” in Proc. 2012 American Control Conference (ACC 2012), 344-349, 2012. Preprint [bibtex]

[34] W. Wu and Fumin Zhang, “Explorability of Noisy Scalar Fields,” in Proc. 2011 IEEE International Conference on Decision and Control (CDC 2011), 6439-6444, 2011. Preprint [bibtex]

[33] J. Kim, S. Maxon, M. Egerstedt, and Fumin Zhang, “Intruder Capturing Game on a Topological Map Assisted by Information Networks,” in Proc. 2011 IEEE International Conference on Decision and Control (CDC 2011), 6266-6271, 2011. Preprint [bibtex]

[32] K. Szwaykowska and Fumin Zhang, “A Lower Bound on Navigation Error for Marine Robots Guided by Ocean Circulation Models,” in Proc. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), 3583-3588, 2011. Preprint [bibtex]

[31] D. Chang, Fumin Zhang, and M. West, "Diagnosis and Prognosis of Scrubber Faults for Underwater Rebreathers based on Stochastic Event Models," in Proc. 2011 IEEE International Conference on Prognostics and Health Management (PHM 2011), 2011. Preprint [bibtex]

[30] M. Malisoff, F. Mazenc, and Fumin Zhang, “Input-to-State Stability for Curve Tracking Control: A Constructive Approach,” in Proc. 2011 American Control Conference (ACC 2011), 1984-1989, 2011. Preprint [bibtex]

[29] W. Wu and Fumin Zhang, “Experimental Validation of Source Seeking with a Switching Strategy,” in Proc. 2011 IEEE Conference on Robotics and Automation (ICRA 2011), 3835-3840, 2011.Preprint [bibtex]

[28] S. Zhang, J. Yu, A. Zhang, and Fumin Zhang, “Steady Three Dimensional Gliding Motion of an Underwater Glider,” in Proc. 2011 IEEE Conference on Robotics and Automation (ICRA 2011), 2392-2397, 2011. Preprint [bibtex]

[27] H. Yang and Fumin Zhang, “Robust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles,” in Proc. 2011 IEEE Conference on Robotics and Automation (ICRA 2011), 3364-3369, 2011. Preprint [bibtex]

[26] K. Szwaykowska and Fumin Zhang, “A Lower Bound for Controlled Lagrangian Particle Tracking Error, ” in Proc.49th IEEE Conference on Decision and Control (CDC 2010), 4353-4358, 2010. Preprint [bibtex]

[25] W. Wu and Fumin Zhang, “A Switching Strategy for Robust Cooperative Exploration,” in Proc.49th IEEE Conference on Decision and Control (CDC 2010), 5493-5498, 2010. Preprint [bibtex]

[24] W. Wu and Fumin Zhang, “Curvature Based Cooperative Exploration of Three Dimensional Scalar Fields,” in Proc. 2010 American Control Conference (ACC 2010), 2909-2915, 2010. Preprint [bibtex]

[23]H. Yang and Fumin Zhang, “Geometric Formation Control for Autonomous Underwater Vehicles,” in Proc. 2010 IEEE Conference on Robotics and Automation (ICRA 2010), 4288-4293, 2010. Preprint [bibtex]

[22] J. Kim, Fumin Zhang and M. Egerstedt (2009), “Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams,” in Proc. 2009 IFAC Workshop on Networked Robotics (NETROBO 2009), 1-6, 2009. Preprint [bibtex]

[21] Fumin Zhang and Z. Shi “Optimal and Adaptive Battery Discharge Strategies for Cyber-Physical Systems,” in Proc. 48th IEEE Conference on Decision and Control (CDC 2009) , 6232-6237, 2009. Preprint [bibtex]

[20] J. Kim, Fumin Zhang, and M. Egerstedt, “An Exploration Strategy Based on Construction of Voronoi Diagrams,” in Proc. 48th IEEE Conference on Decision and Control (CDC 2009), 7024-7029, 2009. Preprint [bibtex]

[19] Fumin Zhang, Z. Shi, and W.Wolf, “A Dynamic Battery Model for Co-Design in Cyber-Physical Systems,” in Proc. 29th IEEE Internaional Converence on Distributed Computing Systems Workshops: the 2nd International Workshop on Cyber-Physical Systems, 51-56, Montreal, Cananda, 2009. Preprint [bibtex]

[18] K. Szwaykowska, Fumin Zhang,and W. Wolf, “Tracking Error under Time Delay and Asynchronicity in Distributed Camera Systems,” in Proc. 2009 American Control Conference (ACC 2009), 4886-4891. Preprint [bibtex]

[17] J. Kim, Fumin Zhang, and M. Egerstedt. “Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors,” in Proceedings of 47th IEEE Conference on Decision and Control (CDC 2008), 5036-5041, 2008. Preprint [bibtex]

[16] Fumin Zhang and Naomi Leonard, “Cooperative Kalman Filters for Cooperative Exploration,” in Proc. of 2008 American Control Conference (ACC 2008), 2654-2659, 2008. Preprint [bibtex]

[15] Fumin Zhang and Salman Haq, “Boundary Following by Robot Formations without GPS,” in Proc. of 2008 International Conference on Robotics and Automation (ICRA 2008), 152-157, 2008. Preprint [bibtex]

[14] Fumin Zhang, “Cooperative Shape Control of Particle Formations,” in Proc. 46th IEEE Conference on Decision and Control (CDC 2007),2516-2521, 2007. Preprint [bibtex]

[13] Fumin Zhang, Edward Fiorelli and Naomi Leonard “Exploring Scalar Fields Using Multiple Sensor Platforms: Tracking Level Curves,” in Proc. 46th IEEE Conference on Decision and Control (CDC 2007), 3579-3584, 2007. Preprint [bibtex]

[12] Fumin Zhang, “Curve Tracking Control for Legged Locomotion,” in Proc. of 2007 American Control Conference (ACC 2007), 2836-2841, 2007. Preprint [bibtex]

[11] Fumin Zhang and Naomi Leonard, “A Controller Design Method under Infrequent, Asynchronous Sensing,” in Hybrid Systems: Computation and Control 2007 (HSCC 2007), 790-794, 2007. Preprint [bibtex]

[10] Fumin Zhang and Naomi Leonard, “Coordinated Patterns on Smooth Curves,” in Proc. 2006 IEEE International Conference On Networking, Sensing and Control , 434-439, Ft. Lauderdale, Florida, April, 2006. Preprint [bibtex]

[9] P. Bhatta, E. Fiorelli, F. Lekien, N. E. Leonard, D. A. Paley, F. Zhang, R. Bachmayer, R. E. Davis, D. M. Fratantoni, and R. Sepulchre. “Coordination of an Underwater Glider Fleet for Adaptive Ocean Sampling,” in Proc. Int. Workshop on Underwater Robotics for Sustainable Management of Marine Ecosystems and Environmental Monitoring, 61–69, November 2005. Preprint [bibtex]

[8] Fumin Zhang and Naomi Leonard, “Generating Contour Plots using Multiple sensor platforms,” in Proc. of 2005 IEEE Swarm Intelligence Symposium, 309-314, June 8-10, 2005. Preprint [bibtex] Demos

[7] Fumin Zhang, Eric Justh and P. S. Krishnaprasad, “Boundary Following using Gyroscopic Control,” in  Proc. of  43rd IEEE Conference on Decision and Control (CDC 2004), 5204-5209, 2004. Preprint  [bibtex] Demos

[6] Fumin Zhang, Alan O’Connor, Derek Luebke and P.S. Krishnaprasad, “Experimental Study of Curvature-based Control Laws for Obstacle Avoidance,” in Proc. of 2004 IEEE International Conference on Robotics and Automation, 3849-3854, New Orleans, USA, April 26-May 1, 2004.   Preprint [bibtex] Demos

[5] Fumin Zhang, Michael Goldgeier and P. S. Krishnaprasad, “Control of Small Formations using Shape Coordinates,” in Proc. of 2003 IEEE International Conference on Robotics and Automation, 2510-2515, Taipei, Taiwan, September 14-19, 2003. Preprint [bibtex]

[4] Fumin Zhang and P. S. Krishnaprasad, “Co-ordinated Orbit Transfer of Satellite Clusters,” in Proc. of 41st IEEE Conference on Decision and Control, 4095-4100, Las Vegas, Nevada, Dec 10-13, 2002. Preprint [bibtex]

[3] Fumin Zhang and P. S. Krishnaprasad, “Formation Dynamics under a Class of Control Laws,” in Proc. of 2002 American Control Conference, 1678-1685, Anchorage, Alaska, May 8-10, 2002. Preprint [bibtex]

[2] D. Hristu, P. S. Krishnaprasad, F. Zhang, S.Andersson, L. D’Anna, P. Sodre, “The MDLe Engine: A Software Tool for Hybrid Motion Control,” ISR Technical Report TR2000-54, University of Maryland, 2000. Preprint [bibtex]

[1] Zhang Fumin, Chen Jianye, Wang Zhonghong, and Han Yingduo, “Fault Recognition of A 20 MVAR Statcom Main Circuit Using Artificial Neural Network,” in Proc. of IECEC( 33rd Intersociety Energy Conversion Engineering Conference )-98-I164, Colorado Springs, Aug.2-6, 1998  [bibtex]