Publications

Full Publications can be found at: https://scholar.google.com/citations?user=m8LhY94AAAAJ&hl=zh-CN

Selected Publications:

2026

• Wenhao Gan, Kai Guo, Lei Qiao, “A scalable multi-UUVs collaborative multi-objective area protection framework using multi-task MADRL,” IEEE Transactions on Mobile Computing, Early Access, 2026.
• Lin Yu, Lei Qiao, “Six-dimensional digital twin system for autonomous underwater vehicles: conceptualization and twin experiments,” Journal of Field Robotics, DOI: 10.1002/rob.70220, 2026.
• Xiujun Chai, Yuanlong Li, Lei Qiao, Yanji Liu, “Terrain-aided navigation based on particle filter with relocation function,” IEEE Transactions on Instrumentation and Measurement, vol. 75, no. 8504809, 2026.
• Xiujun Chai, Yuanlong Li, Lei Qiao, Yanji Liu, “Terrain-aided navigation based on sequential multiple distribution estimation filter: theory and experiment,” IEEE/ASME Transactions on Mechatronics, vol. 31, no. 1, pp. 393-401, 2026.

2025

• Wenhao Gan, Kai Guo, Lei Qiao, “An adaptive AUV hunting strategy for high-mobility target with hierarchical MADRL,” IEEE Transactions on Aerospace and Electronic Systems, Early Access, 2025.
• Mingqi Yao, Lin Yu, Kai Guo, Yu Lu, Weidong Zhang, Lei Qiao, “Distributed two-layered leader-follower affine formation control for multiple AUVs in three-dimensional space,” IEEE Transactions on Systems, Man and Cybernetics: Systems, vol. 55, no. 1, pp. 85-95, 2025.
• Wenhao Gan, Lei Qiao, “An adaptive deep reinforcement learning framework for AUV attack-defense games,” IEEE Transactions on Intelligent Transportation Systems, vol. 26, no. 10, pp. 16320-16335, 2025.
• Panzhao Chen, Lin Yu, Kai Guo, Lei Qiao, “Fast and accurate trajectory tracking control for underactuated AUVs with mismatched disturbances: theory and experiment,” IEEE Transactions on Industrial Electronics, vol. 72, no. 8, pp. 8312-8321, 2025.
• Wenhao Gan, Lei Qiao, “Many-versus-many UUV attack-defense game in 3D scenarios using hierarchical multi-agent reinforcement learning,” IEEE Internet of Things Journal, vol. 12, no. 13, pp. 23479-23494, 2025.
• Wenhao Gan, Kai Guo, Lei Qiao, “Sim2Real transfer for AUV games via MADRL and digital twins,” in Proceedings of the 16th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2025), Wuhan, China, August 25-28, 2025, vol. 59, no. 22, pp. 336-341.

2024

• Tong Tan, Lin Yu, Kai Guo, Xuyang Wang, Lei Qiao, “Biomimetic robotic remora with hitchhiking ability: design, control and experiment,” IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 11505-11512, 2024.
• Lin Yu, Lei Qiao, Chao Shen, “Obstacle avoidance for a large-scale high-speed underactuated AUV in complex environments,” IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 12, pp. 19831-19841, 2024.
• Lin Yu, Lei Qiao, Chao Shen, “High-speed obstacle avoidance of a large-scale underactuated autonomous underwater vehicle under a finite field of view,” IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 1996-2005, 2024.
• Mingqi Yao, Kai Guo, Yu Lu, Weidong Zhang, Lei Qiao, “Distributed adaptive integral sliding mode affine formation maneuver control for multiple AUVs with event-triggered chattering-reduction mechanism,” IEEE Transactions on Vehicular Technology, vol. 73, no. 11, pp. 16341-16350, 2024.
• Xiujun Chai, Yuanlong Li, Lei Qiao, Min Zhao, “Terrain-aided navigation of long-range AUV based on cubature particle filter,” IEEE Transactions on Instrumentation and Measurement, vol. 73, pp. 3517909, 2024.
• Mingqi Yao, Kai Guo, Lei Qiao, “Distributed affine formation maneuver control for multiple AUVs in three-dimensional space,” in Proceedings of the IEEE 10th International Conference on Underwater System Technology: Theory and Applications (USYS), Xi’an, China, October 18-20, 2024, pp. 1-5. (Best Paper Award)

2022

• Lei Qiao, Min Zhao, Chao Wu, Tong Ge, Rui Fan, Weidong Zhang, “Adaptive PID control of robotic manipulators without equality/inequality constraints on control gains,” International Journal of Robust and Nonlinear Control, vol. 32, no. 18, pp. 9742-9760, 2022.
• Yu Lu, Rong Su, Chengxi Zhang, Lei Qiao, “Event-triggered adaptive formation keeping and interception scheme for autonomous surface vehicles under malicious attacks,” IEEE Transactions on Industrial Informatics, vol. 18, no. 6, pp. 3947-3957, 2022.
• Xiaotong Cheng, Yu Lu, Lei Qiao, Zhihuan Hu, Weidong Zhang, “Multi-task cooperative formation control of autonomous surface vessels with interception of moving objects,” IEEE Journal of Oceanic Engineering, vol. 47, no. 2, pp. 271-281, 2022.
• Jianyu Liu, Min Zhao, Lei Qiao, “Adaptive barrier Lyapunov function-based obstacle avoidance control for an autonomous underwater vehicle with multiple static and moving obstacles,” Ocean Engineering, vol. 243, no. 110303, 2022.
• Rui Fan, Hengli Wang, Peide Cai, Jin Wu, Mohammud Junaid Bocus, Lei Qiao, Ming Liu, “Learning collision-free space detection from stereo images: Homography matrix brings better data augmentation,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 1, pp. 225-233, 2022.

2021

• Yu Lu, Xinli Xu, Lei Qiao, Weidong Zhang, “Robust adaptive formation tracking of autonomous surface vehicles with guaranteed performance and actuator faults,” Ocean Engineering, vol. 237, no. 109592, 2021.
• Bin Lin, Lei Qiao, Zehua Jia, Zhijian Sun, Min Sun, Weidong Zhang, “Control strategies for target-attacker-defender games of USVs,” in Proceedings of the 6th International Conference on Automation, Control and Robotics Engineering (CACRE), Dalian, China, July 15-17, 2021, pp. 191-198. (Best Student Paper Award)

Before 2020

• Lei Qiao, Weidong Zhang, “Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control,” IEEE Transactions on Industrial Informatics, vol. 16, no. 2, pp. 1248-1258, 2020.
• Lei Qiao, Weidong Zhang, “Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles,” IET Control Theory and Applications, vol. 11, iss. 8, pp. 1293-1306, 2017. (2019 IET Control Theory & Applications Premium Award-Best Paper)
• Lei Qiao, Weidong Zhang, “Double-loop integral terminal sliding mode tracking control for UUVs with adaptive dynamic compensation of uncertainties and disturbances,” IEEE Journal of Oceanic Engineering, vol. 44, no. 1, pp. 29-53, 2019.
• Lei Qiao, Weidong Zhang, “Adaptive second-order fast nonsingular terminal sliding mode tracking control for fully actuated autonomous underwater vehicles,” IEEE Journal of Oceanic Engineering, vol. 44, no. 2, pp. 363-385, 2019.
• Lei Qiao, Shitao Ruan, Guoqing Zhang, Weidong Zhang, “Robust H2 optimal depth control of an autonomous underwater vehicle with output disturbances and time delay,” Ocean Engineering, vol. 165, pp. 399-409, 2018.
• Lei Qiao, Bowen Yi, Defeng Wu, Weidong Zhang, “Design of three exponentially convergent robust controllers for the trajectory tracking of autonomous underwater vehicles,” Ocean Engineering, vol. 134, pp. 157-172, 2017.
• Zhixin Wu, Peng Han, Ruiwen Yao, Lei Qiao, Weidong Zhang, Tielong Shen, Min Sun, Yilong Zhu, Ming Liu, Rui Fan, “Autonomous UAV landing system based on visual navigation,” in Proceedings of the IEEE International Conference on Imaging Systems and Techniques (IST), Abu Dhabi, United Arab Emirates, December 9-10, 2019, pp. 1-6.