Journals

@article{TMech2020FF,

title = {Guarding a Territory Against an Intelligent Intruder : Strategy Design and Experimental Verification},

author = {Han Fu* and Hugh H. -T. Liu},

url = {https://www.flight.utias.utoronto.ca/fsc/wp-content/uploads/2023/06/TMech2020FF.pdf},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

journal = {IEEE/ASME Transactions on Mechatronics},

volume = {25},

pages = {1765-1772},

abstract = {This paper designs and tests a dominant region based strategy for a group of defenders to intercept an intruder before it enters a target area. The intruder is intelligent in the sense that it makes decisions based on the defenders’ strategies instead of following a pre-defined path, making the problem a differential game. The proposed strategy is optimal when the intruder moves slower than the defenders. When the intruder moves faster, the dominant region based strategy is still applicable, but with proper modifications. Crazyflie 2.1 is used as the experimental platform to test the proposed strategy. For fixed defender locations, a barrier line can be drawn such that the intruder is guaranteed to be captured outside the target area if it starts beyond.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{AS2020,

title = {Navigation Information Augmented Artificial Potential Field Algorithm for Collision Avoidance in UAV Formation Flight},

author = {Huahua Liu* and Hugh H-T Liu and Cheng Chi and Yawei Zhai and Xingqun Zhan},

url = {https://www.flight.utias.utoronto.ca/fsc/wp-content/uploads/2023/06/AS2020_huahualiu.pdf},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

journal = {Aerospace Systems},

pages = {229--241},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{HAL2019,

title = {Effective aerial monitoring of cyanobacterial harmful algal blooms is dependent on understanding cellular migration},

author = {Mingzhi Qu and Stephen Anderson and Pin Lyu* and Yasir Malang* and Jizhou Lai and Jianye Liu and Bin Jiang and Feng Xie and Hugh H-T Liu and Daniel D Lefebvre and Yuxiang Wanga},

doi = {doi.org/10.1016/j.hal.2019.101620},

year  = {2019},

date = {2019-07-01},

journal = {Harmful Algae},

volume = {87},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ICRA2020SS.RAL,

title = {Multi-agent Motion Planning for Dense and Dynamic Environments via Deep Reinforcement Learning},

author = {Samaneh Hosseini Semnani and Hugh H T Liu and Michael Everett and Anton de Ruiter and Jonathan P How},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

note = {under review (10.Dec.2019)},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{TIM2019YZ,

title = {An Estimator-Based Control for Measurement Noise Rejection with Application to Angle-Trajectory Tracking Using MEMS IMU},

author = {Yang Zhu and Bo Zhu and Hugh H T Liu and Kaiyu Qin},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Transactions on Instrumentaion & Measurement},

note = {submitted November 11, 2019: IM-19-23601},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{TCyber2019SS,

title = {Force-based Algorithm for Motion Planning of Large Agent Teams},

author = {Samaneh Hosseini Semnani* and Anton de Ruiter and Hugh Liu},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Transactions on Cybernetics},

note = {CYB-E-2019-05-0942, submitted on May 10, 2019},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{JIRS2019JF,

title = {Multi-UAV Path Planning and Guidance for Cooperative Hunting in a Cluttered Environment},

author = {Joshua Furtado and Hugh H T Liu},

year  = {2019},

date = {2019-01-01},

journal = {Journal of Intelligent and Robotic Systems},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{TMech2019HLY,

title = {Attitude Synchronization for Multiple Three DOF Helicopters with Actuator Faults},

author = {Huiliao Yang and Bin Jiang and Hugh H T Liu and Hao Yang and Qingrui Zhang},

doi = {10.1109/TMECH.2019.2895222},

year  = {2019},

date = {2019-01-01},

journal = {IEEE Transactions on Mechatronics},

number = {January},

pages = {to appear},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Electronics2018Hua,

title = {A model-based game strategy design for multi-agent distributed consensus and control},

author = {Yueyang Hua and Yunjie Wu and Hugh H T Liu},

year  = {2018},

date = {2018-01-01},

journal = {Electronics},

note = {submitted on November 29, 2018, resubmiited on January 17, 2019, electronics-438276},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{AppSci2018Hua,

title = {A model-based game strategy design for multi-agent distributed consensus and control},

author = {Yueyang Hua and Yunjie Wu and Hugh H T Liu},

year  = {2018},

date = {2018-01-01},

journal = {Applied Sciences},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{CASJ2018DWL,

title = {Modeling a large multirotor aerial vehicle with influence of aerodynamics},

author = {Dawei Li and Hugh H T Liu},

year  = {2018},

date = {2018-01-01},

journal = {Canadian Aeronautics and Space Journal},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{AESCTE2018QRZ,

title = {Aerodynamic Model-Based Robust Adaptive Close Formation Flight Control},

author = {Qingrui Zhang and Hugh H T Liu},

url = {https://doi.org/10.1016/j.ast.2018.05.029},

doi = {10.1016/j.ast.2018.05.029},

issn = {1270-9638},

year  = {2018},

date = {2018-01-01},

journal = {Aerospace Science and Technology},

volume = {79},

pages = {5--16},

publisher = {Elsevier Masson SAS},

keywords = {close formation flight, robust adaptive control},

pubstate = {published},

tppubtype = {article}

}

@article{ISA2018HLY,

title = {Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance},

author = {Huiliao Yang and Bin Jiang and Hao Yang and Hugh H T Liu},

url = {https://doi.org/10.1016/j.isatra.2018.02.009},

doi = {10.1016/j.isatra.2018.02.009},

issn = {00190578},

year  = {2018},

date = {2018-01-01},

journal = {ISA Transactions},

volume = {75},

pages = {118--126},

publisher = {Elsevier Ltd},

abstract = {The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme.},

keywords = {Actuator fault, Actuator saturation, Fault tolerant control, Multi-agent system, robust adaptive control, Synchronization},

pubstate = {published},

tppubtype = {article}

}

@article{TAES2018Lv,

title = {A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor},

author = {Pin Lyu and Jizhou Lai and Hugh H T Liu and Jianye Liu and Qingrui Zhang},

doi = {10.1109/TAES.2017.2773262},

issn = {00189251},

year  = {2018},

date = {2018-01-01},

journal = {IEEE Transactions on Aerospace and Electronic Systems},

volume = {54},

number = {2},

pages = {1008--1019},

abstract = {IEEE In this paper, a new fault diagnosis method is presented for the sensors in the vertical direction of a quadrotor. Different from the existing methods which treat the inertial sensors and the measurement sensors separately, the presented method is capable of dealing with both the z-axis accelerometer and the barometer. The knowledge of the thrust model is used to generate an analytical redundancy based fault diagnosis approach for altitude estimation. The filter design, fault detection, isolation and recovery problems are addressed. An improved chi-test method is used for fault detection. Real flight data is used to validate the proposed approaches, showing that 1) the faults of the z-axis accelerometer and the barometer can both be detected; 2) the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer.},

keywords = {altitude estimation, analytical redundancy, chi-test, fault diagnosis, quadrotor, thrust model},

pubstate = {published},

tppubtype = {article}

}

@article{OCAM2018ZJL,

title = {Topology-Based Distributed Optimization for Multi-UAV Cooperative Wildfire Monitoring},

author = {Zhongjie Lin and Hugh H T Liu},

year  = {2018},

date = {2018-01-01},

journal = {OPTIMAL CONTROL APPLICATIONS AND METHODS},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{JRNC2018BZ,

title = {Design and Experimental Evaluation of Robust Motion Synchronization Control for Multi-vehicle System without Velocity Measurements},

author = {Bo Zhu and Qingrui Zhang and Hugh H T Liu},

year  = {2018},

date = {2018-01-01},

journal = {International Journal of Robust and Nonlinear Control},

pages = {1--37},

keywords = {bance estimation and compensation, distur-, motion synchronization, multi-vehicle system, passivity filter, velocity estimator},

pubstate = {published},

tppubtype = {article}

}

@article{TIE2018QRZ,

title = {UDE-Based Robust Command Filtered Backstepping Control for Close Formation Flight},

author = {Qingrui Zhang and Hugh H T Liu},

doi = {10.1109/TIE.2018.2811367},

issn = {02780046},

year  = {2018},

date = {2018-01-01},

journal = {IEEE Transactions on Industrial Electronics},

keywords = {command filtered backstepping, Formation tracking control, model uncertainty, robust nonlinear control, uncertainty and disturbance estimator (UDE)},

pubstate = {published},

tppubtype = {article}

}

@article{TIE2018ZJL,

title = {Kalman filter-based large-scale wildfire monitoring with a system of UAVs},

author = {Zhongjie Lin and Hugh H T Liu and Mike Wotton},

doi = {10.1109/TIE.2018.2823658},

issn = {02780046},

year  = {2018},

date = {2018-01-01},

journal = {IEEE Transactions on Industrial Electronics},

keywords = {Estimation, Fuels, Heuristic algorithms, Kalman filter, Kalman filters, Monitoring, Temperature measurement, Time measurement, UAV system, Wildfire model, Wildfire monitoring},

pubstate = {published},

tppubtype = {article}

}

@article{JGCD2017WF,

title = {Gain-scheduling Control of Flexible Aircraft with Actuator Saturation and Stuck Faults},

author = {bf Wen Fan and Hugh H T Liu and Raymond H S Kwong},

doi = {http://dx.doi.org/10.2514/1.G002222},

year  = {2017},

date = {2017-03-01},

journal = {AIAA Journal of Guidance, Control and Dynamics},

volume = {40},

number = {3},

pages = {510--520},

note = {urlJGCD2017WF.pdf},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{IJRS2017Bing,

title = {Mapping Vegetation Biophysical and Biochemical Properties Using Unmanned Aerial Vehicles (UAV)-Acquired Imag},

author = {Bing Lu and Yuhong He and Hugh H T Liu},

doi = {10.1080/01431161.2017.1363441},

year  = {2017},

date = {2017-01-01},

journal = {International Journal of Remote Sensing},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{JAC2017QRZ,

title = {Aerodynamics Modeling and Analysis of Close Formation Flight},

author = {Qingrui Zhang and Hugh H T Liu},

doi = {10.2514/1.C034271},

year  = {2017},

date = {2017-01-01},

journal = {AIAA Journal of Aircraft},

volume = {54},

number = {6},

pages = {2192--2204},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{SCIS2017Wang,

title = {Saturated Coordinated Control of Multiple Underactuated Unmanned Surface Vehicles Over a Closed Curve},

author = {Lu Liu and Dan Wang and Zhouhua Peng and Hugh H T Liu},

year  = {2017},

date = {2017-01-01},

journal = {Science China: Information Sciences},

volume = {60},

number = {7},

pages = {36--49},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{IJASSE2017ZJL,

title = {Autonomous Wildfire Hotspot Detection Using a Fixed Wing UAV},

author = {Zhongjie Lin and Hugh H T Liu},

year  = {2017},

date = {2017-01-01},

journal = {International Journal of Aerospace Sciences and Systems Engineering},

pages = {1--17},

keywords = {hotspot detection, uav, wildfire},

pubstate = {published},

tppubtype = {article}

}

@article{AESTEC2017QRZ,

title = {Aerodynamic Model-Based Robust Adaptive Close Formation Flight Control},

author = {Qingrui Zhang and Hugh H T Liu},

year  = {2017},

date = {2017-01-01},

journal = {Aerospace Science and Technology},

note = {submitted on 19 Sep 2017},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{OCAM2017CG,

title = {Dubins path-based dynamic soaring trajectory planning and tracking control in a gradient wind field},

author = {Chen Gao and Hugh H T Liu},

doi = {10.1002/oca.2248},

year  = {2017},

date = {2017-01-01},

journal = {OPTIMAL CONTROL APPLICATIONS AND METHODS},

volume = {38},

pages = {147-166},

note = {urlOCAM2017CG.pdf},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{IJRS2016PLyu,

title = {Autonomous cyanobacterial harmful algal blooms monitoring using multirotor UAS},

author = {Pin Lyu and Yasir Malang and Hugh H T Liu and Jizhou Lai and Jianye Liu and Bin Jiang and Mingzhi Qu and Stephen Anderson and Daniel Lefbvre and Yuxiang Wang},

year  = {2016},

date = {2016-01-01},

journal = {International Journal of Remote Sensing},

keywords = {},

pubstate = {published},

tppubtype = {article}

}