Under Review

  1. S. Zhao and F. Pasqualett, "Controllability Degree of Directed Line Networks: Nodal Energy and Asymptotic Bounds", submitted to ECC2018, Oct 2017
  2. F. Pasqualetti, C. Favaretto, S. Zhao, and S. Zampieri, "Fragility and Controllability Tradeoff in Complex Networks", submitted to ACC2018, Sep 2017
  3. M.-H. Trinh, S. Zhao, Z. Sun, D. Zelazo, B.D.O. Anderson, and H.-S. Ahn, "Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure," submitted to IEEE Transactions on Automatic Control, 2016
  4. S. Zhao and F. Pasqualetti, "Network Design with Guaranteed Controllability and Robustness Performance", submitted to IEEE Transactions on Control of Network Systems, 2016

Journal Articles

  1. S. Zhao and D. Zelazo,
    "Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life beyond distance rigidity",
    IEEE Control Systems Magazine, conditionally accepted, Nov 2017
  2. S. Zhao,
    "Affine formation maneuver control of multi-agent systems",
    IEEE Transactions on Automatic Control, conditionally accepted, Sep 2017
    [simulation animation: video 1, video 2] [presentation slides]
  3. S. Zhao, D. V. Dimarogonas, Z. Sun, and D. Bauso,
    "A general approach to coordination control of mobile agents with motion constraints,"
    IEEE Transactions on Automatic Control, accepted (DOI: 10.1109/TAC.2017.2750924), Aug 2017
    [simulation animation]
  4. S. Zhao and D. Zelazo,
    "Translational and scaling formation maneuver control via a bearing-based approach,"
    IEEE Transactions on Control of Network Systems, vol. 4, no. 3, pp. 429-438, 2017
    [Simulation animation: video1, video2]
  5. S. Zhao and D. Zelazo,
    "Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions,"
    Automatica, vol. 69, pp. 334-341, 2016.
  6. S. Zhao and D. Zelazo,
    "Bearing rigidity and almost global bearing-only formation stabilization,"
    IEEE Transactions on Automatic Control, vol. 61, no. 5, pp. 1255-1268, 2016.
    [Simulation animation: youtube]
  7. S. Zhao, F. Lin, K. Peng, X. Dong, B. M. Chen, and T. H. Lee,
    "Vision-aided estimation of attitude, velocity, and inertial measurement bias for UAV stabilization,"
    Journal of Intelligent & Robotic Systems, vol. 81, no. 3, pp. 531-549, 2016.
    [Flight experimental video: youtube]
  8. F. Wang, P. Liu, S. Zhao, B. M. Chen, S. K. Phang, S. Lai, T. Pang, B. Wang, C. Cai, and T. H. Lee,
    "Development of an unmanned helicopter for vertical replenishment,"
    Unmanned Systems, vol. 3, no. 1, pp. 63-87, 2015.
    [Real flight video: youtube]
  9. S. Zhao, Z. Hu, M. Yin, K. Z. Y. Ang, P. Liu, F. Wang, X. Dong, F. Lin, B. M. Chen, and T. H. Lee,
    "A robust real-time vision system for autonomous cargo transfer by an unmanned helicopter,"
    IEEE Transactions on Industrial Electronics, vol. 62, no. 2, pp. 1210-1219, 2015.
    [Real flight video: youtube]
  10. S. Zhao, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Finite-time stabilization of cyclic formations using bearing-only measurements,"
    International Journal of Control, vol. 87, no. 4, pp. 715-727, 2014.
  11. S. Zhao, B. M. Chen, and T. H. Lee,
    "Optimal deployment of mobile sensors for target tracking in 2D and 3D spaces,"
    IEEE/CAA Journal of Automatica Sinica, vol. 1, no. 1, pp. 24-30, 2014. (Invited for inaugural issue)
  12. S. Zhao, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Distributed control of angle-constrained cyclic formations using bearing-only measurements,"
    Systems & Control Letters, vol. 63, no. 1, pp. 12-24, 2014.
  13. S. Zhao, B. M. Chen, and T. H. Lee,
    "Optimal sensor placement for target localization and tracking in 2D and 3D,"
    International Journal of Control, vol. 86, no. 10, pp. 1687-1704, 2013.
    [presentation slides]

Conference Articles

  1. A. Samiei, B. Hu, S. Zhao, and L. Sun,
    "
    A Decision-Making Framework for Robust Multi-Agent Systems in Risky Communication Scenarios,"
    in Proceedings of the AIAA Science and Technology Forum, (Kissimmee, Florida, USA), January 2018.
  2. S. Zhao, Z. Sun, D. Zelazo, M. H. Trinh, and H.-S. Ahn,
    "Laman graphs are generically bearing rigid in arbitrary dimensions,"
    in Proceedings of the 56th IEEE Conference on Decision and Control, (Melbourne, Australia), December 2017. accepted
    [presentation slides]
  3. S. Zhao and R. Zheng,
    "Flexible bearing-only rendezvous control of mobile robots,"
    in Proceedings of the 36th Chinese Control Conference, (Dalian, China), pp. 8051-8056, July 2017.
  4. S. Zhao and Z. Sun,
    "Defend the practicality of single-integrator models in multi-robot coordination control,"
    in Proceedings of the 13th IEEE International Conference on Control and Automation, (Ohrid, Macedonia), pp. 666-671, July 2017.
  5. S. Zhao and F. Pasqualetti,
    "Discrete-time networks with diagonal controllability Gramian,"
    in Proceedings of the 20th IFAC World Congress, (Toulouse, France), pp. 8627-8632, July 2017.
  6. L. Sun, B. Hu, and S. Zhao,
    "An event-triggering-based approach for three-dimensional local-level frame formation control of leader-follower UAVs,"
    in Proceedings of the 2017 International Conference on Unmanned Aircraft Systems, (Miami, USA), pp. 472-479, June 2017.
  7. S. Zhao and D. Zelazo,
    "Bearing-based formation stabilization with directed interaction topologies,"
    in Proceedings of the 54th IEEE Conference on Decision and Control, (Osaka, Japan), pp. 6115-6120, December 2015.
  8. S. Zhao and D. Zelazo,
    "Bearing-based formation maneuvering,"
    in Proceedings of the 2015 IEEE Multi-Conference on Systems and Control, (Sydney, Australia), pp. 658–663, September 2015.
  9. S. Zhao and D. Zelazo,
    "Bearing-based distributed control and estimation in networks of agents,"
    in Proceedings of the 14th European Control Conference, (Linz, Austria), pp. 2207–2212, July 2015.
  10. O. Rozenheck, S. Zhao, and D. Zelazo,
    "A proportional-integral controller for distance-based formation tracking,"
    in Proceedings of the 14th European Control Conference, (Linz, Austria), pp. 1687–1692, July 2015.
  11. S. Zhao and D. Zelazo,
    "Bearing-constrained formation control using bearing measurements,"
    in Proceedings of the 55th Israel Annual Conference on Aerospace Sciences, (Haifa, Israel), February 2015.
  12. O. Rozenheck, S. Zhao, and D. Zelazo,
    "Formation velocity tracking with proportional control,"
    in Proceedings of the 55th Israel Annual Conference on Aerospace Sciences, (Haifa, Israel), February 2015.
  13. F. Wang, P. Liu, S. Zhao, B. M. Chen, S. K. Phang, S. Lai, and T. H. Lee,
    "Guidance, navigation and control of an unmanned helicopter for automatic cargo transportation,"
    in Proceedings of the 2014 Chinese Control Conference, (Nanjing, China), pp. 1013-1020, July 2014.
    (Best Paper Award/Guan Zhao-Zhi Award)
  14. S. Zhao, Z. Hu, M. Yin, K. Ang, P. Liu, F. Wang, X. Dong, F. Lin, B. M. Chen, and T. H. Lee,
    "A robust vision system for a UAV transporting cargoes between moving platforms,"
    in Proceedings of the 2014 Chinese Control Conference, (Nanjing, China), pp. 544-549, July 2014.
  15. F. Lin, K. Peng, X. Dong, S. Zhao, and B. M. Chen,
    "Vision-based formation for UAVs,"
    in Proceedings of the 11th IEEE International Conference on Control & Automation, (Taichung, Taiwan), pp. 1375-1380, June 2014.
  16. K. Peng, S. Zhao, F. Lin, and B. M. Chen,
    "Vision-based target tracking/following and estimation of target motion,"
    in Proceedings of the 2013 AIAA Guidance, Navigation and Control Conference, (Boston, USA), August 2013.
  17. S. Zhao, X. Dong, J. Cui, Z. Y. Ang, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Design and implementation of homography-based vision-aided inertial navigation of UAVs,"
    in Proceedings of the 2013 Chinese Control Conference, (Xi'an, China), pp. 5101-5106, July 2013.
  18. S. Zhao, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Distributed control of angle-constrained circular formations using bearing-only measurements,"
    in Proceedings of the 2013 Asian Control Conference, (Istanbul, Turkey), pp. 1-6, June 2013.
  19. S. Zhao, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Finite-time stabilization of circular formations using bearing-only measurements,"
    in Proceedings of the 2013 IEEE International Conference on Control & Automation, (Hangzhou, China), pp. 840-845, June 2013.
  20. K. Peng, S. Zhao, F. Lin, and B. M. Chen,
    "Vision based stabilization for aircraft in unknown environment without GPS signal,"
    in Proceedings of the 2012 AIAA Guidance, Navigation and Control Conference, (Minneapolis, USA), August 2012.
  21. S. Zhao, F. Lin, K. Peng, B. M. Chen, and T. H. Lee,
    "Homography-based vision-aided inertial navigation of UAVs in unknown environments,"
    in Proceedings of the 2012 AIAA Guidance, Navigation and Control Conference, (Minneapolis, USA), August 2012.
  22. S. Zhao, B. M. Chen, and T. H. Lee,
    "Optimal placement of bearing-only sensors for target localization,"
    in Proceedings of the 2012 American Control Conference, (Montreal, Canada), pp. 5108-5113, June 2012.
    (Best Presentation in Session Award)