张雪波-南开大学机器人与信息自动化研究所

科研队伍 TEAM

■师资队伍

■博士研究生

■硕士研究生

师资队伍

首页

科研队伍

师资队伍

正文

基本信息

姓名：张雪波

性别：男

行政职务：系主任

职称：教授

学历：博士

所学专业：控制理论与工程

办公电话：23505706-809

电子邮件：zhangxuebo@nankai.edu.cn

研究方向：移动机器人学，视觉伺服，运动规划，无人车自主导航，强化学习与智能博弈，多摄像机网络。

个人简介

教育和工作经历：

* 2018.12-今，南开大学，教授

* 2013.12-2018.12，南开大学，副教授

* 2011.07-2013.12，南开大学，讲师

* 2006.09-2011.06，南开大学，控制理论与控制工程，工学博士

* 2002.09-2006.07，天津大学，自动化，工学学士

随时欢迎保研(硕士或博士，尤其是直博生)、考研学生、或者想尽早参与项目的优秀本科生，通过电子邮件直接与我联系。

方向1：机器人视觉伺服控制；方向2：实时最优运动规划与自主导航；方向3：强化学习与智能博弈；方向4：多摄像机网络优化

科研项目、成果、获奖、专利

科研项目：

目前在研各类纵向、横向等项目经费1100多万，研究经费充裕，请有兴趣的师资博士后随时联系。

2019.10-2022.09, 智能移动机器人，天津市杰出青年科学基金（19JCJQJC62100），项目负责人，100万元；
2019.06-2022.05, 面向高海拔科考环境的机器人移动与作业技术研究, “智能机器人”国家重点研发计划课题（2018YFB1307503），课题负责人，334万元；
2019.04-2022.03, 移动终端交互式全方位机器人鲁棒SLAM 与运动规划 , 天津市自然科学基金面上项目(19JCYBJC18500)，项目负责人，10万元；
2017.01-2020.12，基于人类行为模拟的机器人智能控制关键技术与应用研究，国家自然科学基金委员会-深圳市人民政府机器人基础研究中心联合基金重点项目(U1613210)，子课题负责人，直接经费85.8万元/260万元；
2016.01-2019.12，基于视觉与激光的无人平台环境感知与自主导航共性理论方法与应用研究，南开大学百名青年学科带头人项目，项目负责人，50万；(已结题)
2016.01-2019.12，面向场景监控的全方位移动机器人最短时间覆盖，国家自然科学基金面上项目(61573195)，项目负责人，直接经费65万；(已结题)
2013.01-2015.12，基于人类驾驶行为的移动机器人无标定优化视觉伺服方法研究，国家自然科学基金青年科学基金(61203333)，项目负责人，25万；(已结题)
2018.10-2020.10，基于人工智能的智能体运动决策，横向课题，180万，项目负责人。(已结题)
2019.10-2019.11，液压装卸臂对位电子裁判系统，横向课题，项目负责人。(已结题)
2017.02-2017.06，花卉视觉分级，横向课题，项目负责人。(已结题)

获奖：

2009.12, IEEE CDC & CCC General Chairs's Recognition Award for Interactive Papers
2012.04, 自动化学会第27届青年学术年会优秀应用论文奖
2012.08, 2011年南开大学优秀博士学位论文
2013.04, 2013年天津市优秀博士学位论文
2013.04, 南开大学教学成果一等奖(第2完成人)
2013.12, 机器人视觉控制研究, 天津市自然科学二等奖(第2完成人)
2015.12, 入选南开大学“百名青年学科带头人培养计划”
2016.08, 天津市创新人才推进计划青年科技优秀人才
2017.07, Nomination of Best Paper Award, IEEE International Conference on Advanced Intelligent Mechatronics (IEEE AIM), Munich, Germany, July 2017, Author list: Farsam Farzadpour, Xuebo Zhang, Xiang Chen, Tong Zhang.
2017.08, 自动化类本科生综合实践体系构建、创新培养模式探索与应用型实验设备研制，中国自动化学会高等教育教学成果一等奖(第2完成人)
2017.10, 一类欠驱动机器人系统的轨迹规划与跟踪控制，吴文俊人工智能自然科学一等奖(第3完成人)
2018.05, 基于综合实践体系的智能等专业创新人才培养的探索与实践, 天津市教学成果一等奖(第3完成人), 天津市教育委员会。
2018.07, Best Conference Paper Finalist, IEEE International Conference on Advanced Robotics & Mechatronics (IEEE ARM), Singapore, July 2018, Author list: Jianchao Song, Haiming Gao, Xuebo Zhang*(corresponding author), Wanbiao Liu, Jingtai Liu.
2018.08, Finalist for the Best Paper Award, IEEE International Conference on Real-time Computing and Robotics, Maldives, Aug. 2018, Author list: Jian Wen, Xuebo Zhang*(corresponding author), Haiming Gao, Jing Yuan, Yongchun Fang.
2019.04,“吊运类”欠驱动机器人控制理论与方法, 天津市自然科学一等奖（第3完成人）
2019.05，中国光谷人工智能大会最佳论文展示奖。
2019.09，天津市杰出青年科学基金获得者。
2019.10，天津青年科技奖提名奖。
2020.12, International Journal of Intelligent Robotics and Applications Best Paper Award Finalists，Author list: Xuebo Zhang*(corresponding author), Congyuan Wang, Yongchun Fang, Han Lu, Xiang Chen.

学生竞赛：

2011.12, 指导本科生参加首届全国缩微智能车竞赛, 多车交互科目第二名, 中国人工智能学会主办, 证书(IV2011-02-02)。
2012.08, 指导两组学生参加第二届全国智能设计大赛(华为杯)，中国人工智能学会主办，分别获得一等奖(位列前三甲，题目“人群密度检测系统”)与二等奖(题目：“视频插帧”)。
2013.07, 指导本科生参加第十二届“挑战杯”天津市大学生课外学术科技作品竞赛，一等奖。
2013.08, 指导本科生参加第三届全国智能设计大赛(华为杯)，中国人工智能学会主办，一等奖。
2018.08, 指导本科生参加第八届全国智能设计大赛(华为杯)，中国人工智能学会主办，二等奖。
2019.08, 指导本科生参加第七届“AB杯”全国大学生自动化系统应用大赛，教育部高等学校自动化类专业教学指导委员会主办，一等奖。

撰写论文、专著、教材等

期刊论文(Selected Journal Papers)

J. Wen, X. Zhang*, H. Gao, J. Yuan, and Y. Fang, E3MoP: efficient motion planning based on heuristic-guided motion primitives pruning and path optimization with sparse-banded structure, IEEE Transactions on Automation Science and Engineering, 2021, DOI: 10.1109/TASE.2021.3128521
C. Li, X. Zhang*, H. Gao, R. Wang, Y. Fang, Bridging the gap between visual servoing and visual SLAM: a novel integrated interactive framework, IEEE Transactions on Automation Science and Engineering, 2021, DOI: 10.1109/TASE.2021.3067792.
H. Wang, S. Zhang, X.Y. Zhang, X. Zhang*, and J. Liu, Near-optimal 3-D visual coverage for quadrotor UAVs under photogrammetric constraints, IEEE Transactions on Industrial Electronics, Online DOI: 10.1109/TIE.2021.3060643
R. Wang, X. Zhang*, Y. Fang, and B. Li, Virtual-goal-guided RRT for visual servoing of mobile robots with FOV constraint, IEEE Transactions on Systems, Man and Cybernetics: Systems, DOI: 10.1109/TSMC.2020.3044347
R. Wang, X. Zhang*, Y. Fang, Visual tracking of mobile robots with both velocity and acceleration saturation constraints, Mechanical Systems and Signal Processing, 2021,150: 107274.
F. Jiang, X. Zhang*, X. Chen, Y. Fang. Distributed optimization of visual sensor networks for coverage of a large-scale 3-D scene, IEEE/ASME Transactions on Mechatronics, 2020, 25(6): 2777-2788.
P. Shen, X. Zhang*, Y. Fang, and M. Yuan, Real-time acceleration-continuous path-constrained trajectory planning with built-in tradeoff between cruise and time-optimal motions, IEEE Transactions on Automation Science and Engineering, 2020, 17(4): 1911-1924.
J. Wen, X. Zhang*, H. Gao, J. Yuan, Y. Fang, CAE-RLSM: consistent and efficient redundant line segment merging for online feature map building, IEEE Transactions on Instrumentation and Measurement, 2020, 69(7): 4222-4237.
M. Zhao, X. Guo*, X. Zhang, Y. Fang, Y. Ou. ASPW-DRL: assembly sequence planning for workpieces via a deep reinforcement learning approacheces, Assembly Automation, 2019, vol. 40, no. 1, pp. 65-75.
H. Gao, X. Zhang*, J. Yuan, J. Song, Y. Fang, A novel global localization approach based on structural unit encoding and multiple hypothesis tracking, IEEE Transactions on Instrumentation and Measurement, 2019, 68(11): 4427-4442.
H. Gao, X. Zhang*, J. Wen, J. Yuan, Y. Fang, Autonomous indoor exploration via graph-based SLAM using directional endpoint features and polygon map construction, IEEE Transactions on Automation Science and Engineering, 2019, 16(4): 1531-1542.
X. Zhang, R. Wang, Y. Fang, B. Li, and B. Ma, Acceleration-level pseudo-dynamic visual servoing of mobile robots with backstepping and dynamic surface control, IEEE Transactions on Systems, Man and Cybernetics: Systems, 2019, 49(10): 2071-2081.
X. Zhang, J. Wang, Y. Fang, H. Gao, J. Yuan, Multilevel humanlike motion planning for mobile robots in complex indoor environments, IEEE Transactions on Automation Science and Engineering, 2019, 16(3): 1244-1258.
B. Li, X. Zhang*, Y. Fang, W. Shi, Visual servoing of wheeled mobile robots without desired images, IEEE Transactions on Cybernetics, 2019, 49(8): 2835-2844.
X. Zhang*, X. Chen, F. Farzadpour, and Y. Fang, A visual distance approach for multi-camera deployment with coverage optimization, IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1007-1018
P. Shen, X. Zhang*, and Y. Fang, Complete and time-optimal path-constrained trajectory planning with torque and velocity constraints: theory and applications, IEEE/ASME Transactions on Mechatronics, 2018, 23(2): 735-746.
B. Li, X. Zhang*, Y. Fang, W. Shi, Visual servo regulation of wheeled mobile robots with simultaneous depth identification, IEEE Transactions on Industrial Electronics, 2018, 65(1): 460-469.
P. Shen, X. Zhang*, Y. Fang,Essential properties of numerical integration for time-optimal path-constrained trajectory planning, IEEE Robotics and Automation Letters (RAL with ICRA option), 2017, 2(2): 888-895. arXiv:1610.02881.
X. Zhang, Y. Fang, B. Li, J. Wang, Visual servoing of nonholonomic mobile robots with uncalibrated camera-to-robot parameters, IEEE Transactions on Industrial Electronics, 2017, 64(1): 390-400.
X. Zhang, X. Chen, J. Alarcon, Y. Fang,3-D model-based multi-camera deployment: a recursive convex optimization approach, IEEE/ASME Transactions on Mechatronics, 2015, 20(6): 3157-3169.
Z. Zhao, X. Zhang*, Y. Fang. Stacked multilayer self-organizing map for background modeling, IEEE Transactions on Image Processing, 2015, 24(9): 2841-2850.[Project Homepage][Source code]
X. Zhang, Y. Fang, N. Sun. Visual servoing of mobile robots for posture stabilization: from theory to experiments. International Journal of Robust and Nonlinear Control, 2015, 25(1): 1-15.
X. Zhang, Y. Fang, N. Sun. Minimum-time trajectory planning for underactuated overhead crane systems with state and control constraints. IEEE Transactions on Industrial Electronics, 2014, 61(12): 6915-6925.
X. Zhang, Y. Fang, X. Liu. Motion-estimation-based visual servoing of nonholonomic mobile robots. IEEE Transactions on Robotics (T-RO), 2011, 27(6): 1167-1175.
X. Zhang, Y. Fang, Y. Zhang. Discrete-time control of chained non-holonomic systems. IET Control Theory and Applications, 2011, 5(4): 640-646.
X. Zhang*, B. Zhang, X. Chen, Y. Fang. Coverage optimization of visual sensor networks: survey and comparison, International Journal of Intelligent Robotics and Applications, Springer, 2019, 3(4): 342–361.
H. Gao, X. Zhang*, Y. Fang, J. Yuan, A line segment extraction algorithm using laser data based on seeded region growing, Int. Journal of Advanced Robotic Systems, 2018, 15(1): 1729881418755245.
X. Zhang, C. Wang, Y. Fang, H. Lu, X. Chen, Global homography calibration for monocular vision-based pose measurement of mobile robots, International Journal of Intelligent Robotics and Applications, Springer, 2017, 1(4): 372-382.

讲授课程

自动控制原理（本科生），控制系统的可视化编程（本科生），机器人视觉控制（研究生）

社会兼职

IEEE/ASME Transactions on Mechatronics编委（SCI一区期刊）

ASME Journal of Dynamic Systems, Measurement, and Control编委；

Cognitive Computation and Systems编委；

International Journal of Systems, Control and Communications编委;

ICRA, IROS编委（机器人领域顶级会议）；

International Journal of Intelligent Robotics and Applications客座编委；

Assembly Automation客座编委；

IEEE CYBER, IEEE RCAR，CRC，RoboCE等多个国际学术会议的程序委员会主席（Program Chair）或组织主席(Organizing Chair)。