Journal Publications (17)
Z. Zhang, J. Hong, A. M. S. Enayati, and H. Najjaran, “Using Implicit Behavior Cloning and Dynamic Movement Primitive to Facilitate Reinforcement Learning for Robot Motion Planning”, in IEEE Transactions on Robotics, Sept 2024, DOI: 10.1109/TRO.2024.3468770. [IEEE Xplore] [ArXiv]
Z. Zhang, Z. Sun, and S. Haesaert, “Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion”, in IEEE Transactions on Intelligent Vehicles, Aug 2024, DOI: 10.1109/TIV.2024. 3441315. [IEEE Xplore] [ArXiv]
Q. Liu, Z. Zhang, N. K. Le, J. Qin, F. Liu, and S. Hirche, "Distributed Coverage Control of Constrained Constant-Speed Unicycle Multi-Agent Systems", in IEEE Transactions on Automation Science and Engineering, Mar 2024, DOI: 10.1109/TASE.2024.3377131. [IEEE Xplore] [ArXiv]
T. Liu, Z. Zhang, F. Liu, M. Buss, "Adaptive Observer for a Class of Systems with Switched Unknown Parameters Using DREM", in IEEE Transactions on Automatic Control, Vol. 69, no. 4, Apr 2024, DOI: 10.1109/TAC.2023.3309228. [IEEEXplore] [ResearchGate]
C. Li, Z. Zhang, A. Nesrin, Q. Liu, F. Liu, M. Buss, "Instantaneous local control barrier function: An online learning approach for collision avoidance", in Journal of Intelligent and Robotic Systems, vol. 109, no.2, pp. 40, Oct 2023, DOI: 10.1007/s10846-023-01962-8. [Springer] [ResearchGate]
A. M. S. Enayati, R. Dershan, Z. Zhang, D. Richert, and H. Najjaran, "Facilitating Sim-to-real by Intrinsic Stochasticity of Real-Time Simulation in Reinforcement Learning for Robot Manipulation", in IEEE Transactions on Artificial Intelligence, vol 5, no.4, pp. 1791 - 1804, Jul 2023, DOI: 10.1109/TAI.2023.3299252. [IEEEXplore][arXiv]
Z. Zhang, F. Liu, T. Liu, J. Qiu, and M. Buss, "A Persistent-Excitation-Free Method for System Disturbance Estimation Using Concurrent Learning", in IEEE Transactions on Circuits and Systems I: Regular Papers, vol. 70, no. 8, pp. 3305-3315, Aug 2023, DOI: 10.1109/TCSI.2023.3274558. [IEEEXplore][arXiv]
N. Dang, T. Brüdigam, Z. Zhang, F. Liu, M. Leibold, and M. Buss, "Distributed Stochastic Model Predictive Control for a Microscopic Interactive Traffic Model", in Electronics, vol. 12, no. 6, pp.1270, Mar 2023, DOI: 10.3390/electronics12061270. [MDPI] [ResearchGate]
A. M. S. Enayati, Z. Zhang, and H. Najjaran, "A methodical interpretation of adaptive robotics: Study and reformulation", in Neurocomputing, Vol.512, no.2022, pp.381-397, Nov 2022, DOI: 10.1016/j.neucom.2022
.09.114. [ScienceDirect] [ResearchGate]
Z. Zhang, D. Wollherr, and H. Najjaran, "Disturbance estimation for robotic systems using continuous integral sliding mode observer", in International Journal of Robust and Nonlinear Control, Vol. 32, no. 14, pp. 7946-7966, Sept 2022, DOI: 10.1002/rnc.6252. [Wiley] [ResearchGate]
Z. Zhang, R. Dershan, A. M. S. Enayati, M. Yaghoubi, D. Richert, and H. Najjaran, "A High-Fidelity Simulation Platform For Industrial Manufacturing by Incorporating Robotic Dynamics Into an Industrial Simulation Tool", in IEEE Robotics and Automation Letters, Vol. 7, no. 4, pp. 9123-9128, Jul 2022, DOI: 10.1109/LRA.2022.3190096. [IEEEXplore] [ResearchGate]
Y. Wang, Z. Zhang, C. Li, and M. Buss, "Adaptive incremental sliding mode control for a robot manipulator", in Mechatronics, vol. 82, no. 2022, pp. 102717, 2022, DOI: 10.1016/j.mechatronics.2021.102717. [ScienceDirect] [ResearchGate]
F. Liu, Z. Zhang, and M. Buss. "Optimal filtering and control of network information epidemics", in at - Automatisierungstechnik, vol. 69, no. 2, pp. 122-130, 2021, DOI: 10.1515/auto-2020-0096. [De Gruyter] [ResearchGate]
Z. Zhang, K. Qian, B. W. Schuller, and D. Wollherr, "An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory", in IEEE Transactions on Automation Science and Engineering, vol. 18, no. 3, pp. 1144-1156, July. 2021, DOI: 10.1109/TASE.2020.2997094. [IEEEXplore] [ResearchGate]
Z. Zhang, M. Leibold, and D. Wollherr, "Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler–Lagrangian Systems", in IEEE Transactions on Control Systems Technology, vol. 28, no. 6, pp. 2377-2389, Nov. 2020, doi: 10.1109/TCST.2019.2945904. [IEEEXplore] [ResearchGate]
F. Liu, Z. Zhang, and Martin Buss. "Robust optimal control of deterministic information epidemics with noisy transition rates", in Physica A: Statistical Mechanics and its Applications, vol. 517, no. 4955, pp. 577-587, Mar 2019, DOI: 10.1016/j.physa.2018.11.025. [ScienceDirect] [ResearchGate]
Z. Zhang and Z. Yu. "An Implement of FPGA Based PCI Controller Device and Improvement of DDA Arc Interpolation", in Abstract and Applied Analysis, vol. 2014, no. 1, Aug 2014, DOI:10.1155/2014/301646. [Wiley]
Peer-Reviewed Conferences (8)
M. H. W. Engelaar, Z. Zhang, E. E. Vlahakis, M. Lazar, and S. Haesaert, “Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications”, the 63rd IEEE Conference on Decision and Control (CDC 2024), Milan, Italy, Dec 16-19, 2024. (Accepted) [Arxiv]
M. H. W. Engelaar, Z. Zhang, M. Lazar, and S. Haesaert, "Risk-Aware MPC for Stochastic Systems with Runtime Temporal Logics", the 8th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS 2024), Boulder, the USA,1-3 July 2024. [ScienceDirect][Arxiv][ResearchGate]
S. Qi, Z. Zhang, S. Haesaert, and Z. Sun, "Automated Formation Control Synthesis from Temporal Logic Specifications", 62nd IEEE Conference on Decision and Control (CDC 2023), Singapore, 13-15 Dec 2023. [IEEE Xplore] [Arxiv] [ResearchGate]
Z. Zhang and S. Haesaert, "Modularized Control Synthesis for Complex Signal Temporal Logic Specifications", 62nd IEEE Conference on Decision and Control (CDC 2023), Singapore, 13-15 Dec 2023. [IEEE Xplore] [ArXiv] [ResearchGate] [presentation]
L. C. Wu, Z. Zhang, S. Haesaert, Z. Ma, and Z. Sun, "Risk-Aware Reward Shaping of Reinforcement Learning Agents for Autonomous Driving", 49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023), Singapore, 16-19 Oct 2023. [IEEE Xplore] [ArXiv] [ResearchGate] [presentation]
N. Dang, T. Shi, Z. Zhang, W. Jin, M. Leibold, and M.Buss, "Identifying Reaction-Aware Driving Styles of Stochastic Model Predictive Controlled Vehicles by Inverse Reinforcement Learning", 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Bilbao, Spain, 24-28 Sept 2023. [IEEE Xplore] [ArXiv] [ResearchGate][presentation]
Z. Zhang, Y. Wang, and Dirk Wollherr, "Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive Super-twisting Algorithm", 21st IFAC World Congress, Berlin, Germany, 11-17 July 2020. [ScienceDirect][ResearchGate][presentation]
Y. Sun, Z. Zhang, M. Leibold, R. Hayat, D. Wollherr, and M. Buss. "Protective Control For Robot Manipulator By Sliding Mode Based Disturbance Reconstruction Approach." 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Munich, Germany, 03-07 July 2017. [IEEE Xplore] [ResearchGate][presentation]
Other Presentations and Poster Sessions (3)
Z. Zhang, Z. Sun, and S. Haesaert, “Intention-Aware Control Based on Belief-Space Specifications and Stochastic Expansion”, in the AI Triangle workshop on Learning in Control & Robotics, Aachen, Germany, 16 Sept 2024. [poster]
Z. Zhang, Z. Sun, and S. Haesaert, "Risk-Aware Task Assignment with Formal Specifications for Heterogeneous Multi-Agent Systems", in the 42nd Benelux Meeting on Systems and Control, Elspeet, The Netherlands, 21-23 Mar 2023. [presentation]
Z. Zhang, K. Qian, B. W. Schuller, and D. Wollherr, "An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory", in the 17th International Conference on Automation Science and Engineering (CASE 2021), Lyon, France, 23-27 Aug 2021. [presentation]
Publications Under Review (5)
A. M. S. Enayati, Z. Zhang, K. Gupta, and H. Najjaran, "Exploiting Symmetry and Heuristic Demonstrations in Off-policy Reinforcement Learning for Robotic Manipulation", Symmetry and Geometry in Neural Representations 2024, submitted in Oct 2024. [arXiv]
E. Casablanca, Z. Zhang, G. Marchesini, S. Haesaert, D. V. Dimarogonas, S. Soudjani, “SymAware: A Software Development Framework for Trustworthy Multi-Agent Systems with Situational Awareness”, the 2025 IEEE International Conference on Robotics & Automation, submitted in Sept 2024. [ArXiv]
S. Qi, Z. Zhang, Z. Sun, S. Haesaert, “Risk-Aware Autonomous Driving for Linear Temporal Logic Specifications”, the 2025 IEEE International Conference on Robotics & Automation, submitted in Sept 2024. [ArXiv]
T. V. D. Laar, Z. Zhang, S. Qi, S. Haesaert, Z. Sun, “VernaCopter: Disambiguated Natural-Language-Driven Robot via Formal Specifications”, the 2025 IEEE International Conference on Robotics & Automation, submitted in Sept 2024. [ArXiv]
Z. Zhang, Q. Liu, M. H. Mamduhi, S. Hirche, "Average Communication Rate for Event-Triggered Stochastic Control Systems", in IEEE Transactions on Control of Network Systems, submitted in June 2023. [arXiv]
Invited Talks (3)
Z. Zhang, Optimal Coverage of Unicycle Robots with Constant-Speed and Input-Saturation Constraints, at Technical University of Munich, Munich, Germany, August 2022, (Invited by Prof. Sandra Hirche).
Z. Zhang, A Novel Safety Framework for Human-Robot Collaboration: Torque Sensor-less Collision Detection and Identification. Symposium at Huazhong University of Science and Technology, Wuhan, China, 2019, (Invited by Prof. Ye Yuan).
Z. Zhang, Towards a Novel Framework for Implementing Safety Human-Robot Collaboration. Symposium at East China University of Science and Technology, Shanghai, China, 2020, (Invited by Dr. Dong Xue).