Huifang Elizabeth Wang PhD

I love research!


Postdoctoral research fellow:

Interdepartmental Research Center "E. Piaggio" working with Prof. Antonio Bicchi

Faculty of Engineering - University of Pisa
via Diotisalvi 2, 56100 Pisa, Italy


Home Research Topics Research Activities Courses Publications Links

As a steering committee member of IEEE RAS Technical Committee on Algorithms for Planning and Control of Robot Motion,

  • I have initialized a research repository which is constructed to collect currently valuable research topics, describe the corresponding completed and open problems, and provide existing methods and material such as references, software.

        Now Dr. Subramanian Ramamoorthy and I are attempting to make it grow.

        Any opinions, comments, suggestions and contributions are gratefully welcome!

  • I am preparing the materials for starting to build a course repository.

Research topics:


My PhD research topics:

Time-Optimal Trajectories for nonholonomic Robots -- for the development of geometric optimal control theory (More>>>)

Problem: To compute a fastest trajectory linking two specified configurations while considering the kinematic or dynamic constraints with bounded velocities for a given model of a robot in an unobstructed environment.


Approach: Visually Geometric Reasoning Based on Switching Vectors


My research results:

·       Results of the time-optimal trajectories for the steered car-like robots, Dubins airplanes

·       Open questions and further research for the development of the geometric optimal control theory

·       Papers, codes and videos

Overview of research results:

·       I made it as the first sample of the contribution of research repository

Symbolic Motion Planning and Control (More>>>)


Problem: To specify a task in a high-level language and have a robot automatically compile this specification into a set of low-level motion primitives, or feedback controllers, to accomplish the task.


My research results: 

  • Path Planning Algorithms based on the Cellular Decompositions
  •  Motion Control Algorithms based on Piecewise-affine Hybrid System Theory
  • Papers, codes and videos

Overview of research results:

More contributions are needed...


Research Activities:


·       IEEE Control Systems Society

·       IEEE Robotics Automation Society


·       IEEE Transaction on the Systems, Man and Cybernetics – Part B

·       IEEE Transactions on Automation Science and Engineering


·      46th IEEE Conference on Decision and Control, New Orleans,  LA,  USA, December 12-14, 2007

     Workshop: Optimization on Manifolds, December 11, 2007;

·      17th IFAC World Congress, July 6-11, 2008, Seoul, Korea

Other contributions

IEEE Transaction on Robotics

LaTex thesis Template for BJUT

Research Interest keywords:

·       Mathematics: Differential geometry

·       Control theory:  Nonlinear systems; Optimal control; Hybrid systems

·       Computer Science: Artificial intelligence

·       Robotics: Motion planning and control Algorithms; Nonholonomic systems; Multi-robot control and coordination