Publications

Preprints

Journal Publications

[7] X. Chen, Z. Tang*, K. H. Johansson, J. Mårtensson, Safe platooning and merging control using constructive barrier feedback, European Journal of Control, 2024 (this paper was selected as one of the best papers from 2024 ECC)

[6] Z. Tang, A. Loria, Localization and tracking control of autonomous vehicles in time-varying bearing formation, IEEE Control Systems Letters, 2022, Volum 7, 1231 - 1236.

[5] Z. Tang, R. Cunha, T. Hamel, C. Silvestre, Some properties of time-varying bearing formation, European Jounal of Control, 2022: 100699 (selected by the 2022 ECC program committee)

[4] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Relaxed bearing rigidity and bearing formation control under persistence of excitation, Automatica, 141, 110289, 2022. 

[3] Z. Tang, R. Cunha, D. Cabecinhas, T. Hamel, C. Silvestre, Quadrotor going through a window and landing: An image-based visual servo control approach, Control Engineering Practice, 112, 104827, 2021. [Experimental video]

[2] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Formation control of a leader-follower structure in three dimensional space using bearing measurements, Automatica, 128, 109567, 2021.

[1] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Aircraft landing using dynamic two-dimensional image-based guidance control, IEEE Transactions on Aerospace and Electronic Systems, 55 (5), 2104-2117, 2018

Conference Proceedings

[12] S. Qi, Z. Tang, Z. Sun, S Haesaert, Integrating Opinion Dynamics into Safety Control for Decentralized Airplane Encounter Resolution, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

[11] A. Wong, Z. Tang*, F. Jiang, K. H. Johansson, J. Mårtensson, Beyond Line-of-Sight: Cooperative Localization Using Vision and V2X Communication, The IEEE International Conference on Intelligent Transportation Systems (ITSC), 2025

[10] S. Doodeman, Z. Tang*, Marcelo Jacinto, R. Cunha, C. Silvestre, Leader-follower formation tracking control of quadrotor UAVs using bearing measurements, IEEE Conference on Control Technology and Applications (CCTA) 2025. [Experimental video]

[9] L. Smaili, Z. Tang, T. Hamel, S. Berkane, Dissipative Feedback for Reactive Obstacle Avoidance Under Second-Order Dynamics, IEEE International Conference on Decision and Control, 2025.

[8] Z. Tang, B. Fidan, K. H. Johansson, J. Mårtensson, T. Hamel, Observer-Based Control of Second-Order Multi-vehicle Systems in Bearing-Persistently Exciting Formations, IEEE International Conference on Decision and Control, 2024.

[7] Z. Tang, R. Cunha, T. Hamel, C. Silvestre, Constructive barrier feedback for collision avoidance in leader-follower formation control, 2023 62th IEEE International Conference on Decision and Control.

[6] Z. Tang, Distributed bearing-based localization under switching graph topologies, IFAC World Congress, 2023.  

[5] Z. Tang, R. Cunha, T. Hamel, C. Silvestre, Bearing formation control and trajectory tracking under switching topologies, 2022 European Control Conference, 918-923.

[4] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Bearing-only formation control under persistence of excitation, 2020 59th IEEE International conference on Decision and Control, 4011-4016.

[3] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Bearing leader-follower formation control under persistence of excitation, IFAC-PapersOnLine 53 (2), 5671-5676, 2020.

[2] Z. Tang, R. Cunha,  T. Hamel, C. Silvestre, Going through a window and landing a quadrotor using optical flow, 2018 European Control Conference, 2917-2922.

[1] Z. Tang, L. Li, P. Serra, D. Cabecinhas, T. Hamel, R. Cunha, C. Silvestre (2015, November), Homing on a moving dock for a quadrotor vehicle, TENCON 2015-2015 IEEE Region 10 Conference (pp. 1-6).


'*' indicates coauthor as cosupervisor.