Zheng Zang — accepted AI-conference papers

2025

Cross-Scenario End-to-End Motion Planning in Off-Road Environment: A Lifelong Learning Perspective

Yuchun Wang, Cheng Gong, Jianwei Gong, Zirui Li, Zheng Zang, Peng Jia

RA-L 2025

Motion planning in off-road scenarios is particularly challenging due to diverse terrain features, surface characteristics, and environmental factors. Consequently, rule-based or fixed-parameter motion planning methods often fail to maintain optimal performance, especially in cross-scenario applicat

Cited by 2 Source ↗Scholar ↗

2023

Isolating Trajectory Tracking From Motion Control: A Model Predictive Control and Robust Control Framework for Unmanned Ground Vehicles

Jiarui Song, Gang Tao, Zheng Zang, Haotian Dong, Boyang Wang, Jianwei Gong

RA-L 2023

This letter studies the trajectory tracking and motion control problems of unmanned ground vehicles (UGVs). A model predictive control and robust control (MPC-RC) framework for UGVs is proposed to improve tracking accuracy, yaw stability and robustness in a modular fashion without introducing comple

Cited by 28 Source ↗Scholar ↗