张富｜东北大学｜学者主页

2025

面向双时态RDF星型查询的两阶段索引方法

王刚，张薇，陈宏栉，张富

《东北大学学报(自然科学版)》

2024

EPIC: A Lightweight LiDAR-Based AAV Exploration Framework for Large-Scale Scenarios

Shuang Geng, Zelin Ning, Fu Zhang, Bo-Yu Zhou

IEEE Robotics and Automation Letters

DOI

2024

BTC: A Binary and Triangle Combined Descriptor for 3-D Place Recognition

Chongjian Yuan, Jia-Rong Lin, Zheng Liu, Hai-Ruo Wei, Xiaoping Hong, Fu Zhang

IEEE Transactions on robotics

DOI

2023

An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds

Zheng Liu, Fu Zhang

arXiv.org

DOI

2023

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment

Liang-Fu Li, Hao-Tian Li, Xiyuan Liu, Dongjiao He, Zi-Jian Miao, Fan-Ze Kong, Rundong Li, Zheng Liu, Fu Zhang

arXiv.org

DOI

2023

Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry

Dongjiao He, Wei Xu, Nan Chen, Fan-Ze Kong, Chongjian Yuan, Fu Zhang

Advanced Intelligent Systems

DOI

2023

Safety-critical Decision-making and Control for Autonomous Vehicles with Highest Priority

Yi-Ming Shu, Jin Zhou, Fu Zhang

2023 IEEE Intelligent Vehicles Symposium (IV)

DOI

2023

On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems

Guozheng Lu, Wei Xu, Fu Zhang

IEEE transactions on industrial electronics (1982. Print)

DOI

2023

Robocentric Model-Based Visual Servoing for Quadrotor Flights

Yihang Li, Guozheng Lu, Dongjiao He, Fu Zhang

IEEE/ASME transactions on mechatronics

DOI

2023

Symbolic Representation and Toolkit Development of Iterated Error-State Extended Kalman Filters on Manifolds

Dongjiao He, Wei Xu, Fu Zhang

IEEE transactions on industrial electronics (1982. Print)

DOI

2022

STD: Stable Triangle Descriptor for 3D place recognition

Chongjian Yuan, Jia-Rong Lin, Zuhao Zou, Xiaoping Hong, Fu Zhang

IEEE International Conference on Robotics and Automation

DOI

2022

Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servoless Bi-copter

Youming Qin, Nan Chen, Yi-Xi Cai, Wei Xu, Fu Zhang

IEEE/ASME transactions on mechatronics

DOI

2022

Robust and Online LiDAR-inertial Initialization

Fang-Cheng Zhu, Yun-Fan Ren, Fu Zhang

arXiv.org

2022

FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry

Chun-Ran Zheng, Qingyan Zhu, Wei Xu, Xiyuan Liu, Qi Guo, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2022

Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment

Xiyuan Liu, Zheng Liu, Fan-Ze Kong, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2022

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

Xinyi Chen, Boyu Zhou, Jia-Rong Lin, Yichen Zhang, Fu Zhang, Shao-Jie Shen

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2022

STV-SC: Segmentation and Temporal Verification Enhanced Scan Context for Place Recognition in Unstructured Environment

Xiao-Jie Tian, Peng Yi, Fu Zhang, Jinlong Lei, Yi-Guang Hong

Italian National Conference on Sensors

DOI

2022

Efficient and Consistent Bundle Adjustment on Lidar Point Clouds

Zheng Liu, Xiyuan Liu, Fu Zhang

IEEE Transactions on robotics

DOI

2021

Model Predictive Control for Trajectory Tracking on Differentiable Manifolds

G. Lu, Wei Xu, Fu Zhang

arXiv.org

2021

ikd-Tree: An Incremental K-D Tree for Robotic Applications

Yi-Xi Cai, Wei Xu, Fu Zhang

arXiv.org

2021

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry

Chongjian Yuan, Wei Xu, Xiyuan Liu, Xiaoping Hong, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2021

Embedding manifold structures into Kalman filters

Dongjiao He, Wei Xu, Fu Zhang

arXiv.org

2021

Kalman Filters on Differentiable Manifolds

Dongjiao He, Wei Xu, Fu Zhang

2021

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

Xiyuan Liu, Chongjian Yuan, Fu Zhang

arXiv.org

2021

FAST-LIO2: Fast Direct LiDAR-Inertial Odometry

Wei Xu, Yi-Xi Cai, Dongjiao He, Jia-Rong Lin, Fu Zhang

IEEE Transactions on robotics

DOI

2021

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping

Jia-Rong Lin, Chun-Ran Zheng, Wei Xu, Fu Zhang

arXiv.org

2021

Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments

Chongjian Yuan, Xiyuan Liu, Xiaoping Hong, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2021

Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras Using Adaptive Voxelization

Xiyuan Liu, Chongjian Yuan, Fu Zhang

IEEE Transactions on Instrumentation and Measurement

DOI

2021

Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots

Fan-Ze Kong, Wei Xu, Fu Zhang

arXiv.org

2021

Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks

Jin-Ni Zhou, Hao Xu, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

arXiv.org

2021

R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

Jia-Rong Lin, Fu Zhang

IEEE International Conference on Robotics and Automation

DOI

2020

A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs

Jia-Rong Lin, Xiyuan Liu, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2020

Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs

Yihang Li, Youming Qin, Wei Xu, Fu Zhang

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

DOI

2020

Automatic Kinematic Calibration of Multiaxis Gimbal Systems

Fu Zhang, Ming-Min Zheng

IEEE/ASME transactions on mechatronics

DOI

2020

Low-Cost Retina-Like Robotic Lidars Based on Incommensurable Scanning

Zheng Liu, Fu Zhang, Xiaoping Hong

IEEE/ASME transactions on mechatronics

DOI

2020

BALM: Bundle Adjustment for Lidar Mapping

Zheng Liu, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2020

FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

Wei Xu, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2020

Hybrid aerial-ground locomotion with a single passive wheel

Youming Qin, Yihang Li, Xu Wei, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2020

A Generalized Design Method for Learning-Based Disturbance Observer

Ming-Hui Zheng, X. Lyu, X. Liang, Fu Zhang

IEEE/ASME transactions on mechatronics

DOI

2020

Learning Pugachev's Cobra Maneuver for Tail-Sitter UAVs Using Acceleration Model

Wei Xu, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2020

Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications

Youming Qin, Wei Xu, A. Lee, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2020

Robots’ State Estimation and Observability Analysis Based on Statistical Motion Models

Wei Xu, Dongjiao He, Yi-Xi Cai, Fu Zhang

IEEE Transactions on Control Systems Technology

DOI

2019

Perching and resting—A paradigm for UAV maneuvering with modularized landing gears

Kai-Yu Hang, X. Lyu, Hao-Ran Song, J. A. Stork, Aaron M. Dollar, D. Kragic, Fu Zhang

Science Robotics

DOI

2019

IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise

Guo-Zheng Lu, Fu Zhang

IEEE/ASME transactions on mechatronics

DOI

2019

Coordinate Descent Optimization for Winged-UAV Design

Haowei Gu, X. Lyu, Ze-Xiang Li, Fu Zhang

Journal of Intelligent and Robotic Systems

DOI

2019

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

Wei Xu, Haowei Gu, Youming Qing, Jia-Rong Lin, Fu Zhang

International Conference on Unmanned Aircraft Systems

DOI

2019

A Screen-Based Method for Automated Camera Intrinsic Calibration on Production Lines

Wenliang Gao, Jia-Rong Lin, Fu Zhang, Shao-Jie Shen

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

DOI

2019

Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV

Jia-Rong Lin, Fu Zhang

IEEE International Conference on Robotics and Automation

DOI

2019

A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

Jia-Rong Lin, Fu Zhang

arXiv.org

2019

Flying through a narrow gap using neural network: an end-to-end planning and control approach

Jia-Rong Lin, Luqi Wang, Fei Gao, Shao-Jie Shen, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2018

基于UML的时空建模

陈旭，张富，曹东霞

《东北大学学报(自然科学版)》

2018

模糊OWL 2本体到模糊关系数据库映射形式化方法

李卫军，马宗民，严丽，张富

《东北大学学报(自然科学版)》

2018

Disturbance Observer Based Hovering Control of Quadrotor Tail-Sitter VTOL UAVs Using $H_\infty$ Synthesis

X. Lyu, Jin-Ni Zhou, Haowei Gu, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

IEEE Robotics and Automation Letters

DOI

2018

Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope

X. Lyu, Haowei Gu, Jin-Ni Zhou, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

International Journal of Micro Air Vehicles

DOI

2018

A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs

Haowei Gu, Xiao-Yu Cai, Jin-Ni Zhou, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

International Conference on Unmanned Aircraft Systems

DOI

2018

A systematic design framework for iterative learning control with current feedback

Ming-Hui Zheng, Fu Zhang, Xiao Liang

IFAC Journal of Systems and Control

DOI

2018

Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems

Fu Zhang

IEEE Robotics and Automation Letters

DOI

2018

Synthesized Disturbance Observer for Vehicle Lateral Disturbance Rejection

Shi-Ying Zhou, Ming-Hui Zheng, Fu Zhang, M. Tomizuka

American Control Conference

DOI

2018

A Scalable Model-Based Learning Algorithm With Application to UAVs

Xiao Liang, Ming-Hui Zheng, Fu Zhang

IEEE Control Systems Letters

DOI

2018

$H_{\infty}$ Based Disturbance Observer Design for Non-minimum Phase Systems with Application to UAV Attitude Control

X. Lyu, Ming-Hui Zheng, Fu Zhang

American Control Conference

DOI

2018

Real-Time Calibration of Gyro-Magnetometer Misalignment

Fu Zhang, Jianyu Song

IEEE Robotics and Automation Letters

DOI

2018

Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs

Jin-Ni Zhou, X. Lyu, Xiao-Yu Cai, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

International Conference on Unmanned Aircraft Systems

DOI

2017

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

Jin-Ni Zhou, X. Lyu, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2017

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification

X. Lyu, Haowei Gu, Jin-Ni Zhou, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

IEEE/RJS International Conference on Intelligent RObots and Systems

DOI

2017

Design, implementation and verification of a quadrotor tail-sitter VTOL UAV

Ya Wang, X. Lyu, Haowei Gu, Shao-Jie Shen, Ze-Xiang Li, Fu Zhang

International Conference on Unmanned Aircraft Systems

DOI

2017

Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV)

Haowei Gu, X. Lyu, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

International Conference on Unmanned Aircraft Systems

DOI

2017

Design and implementation of a quadrotor tail-sitter VTOL UAV

X. Lyu, Haowei Gu, Ya Wang, Ze-Xiang Li, Shao-Jie Shen, Fu Zhang

IEEE International Conference on Robotics and Automation

DOI

2016

一种模糊时空描述逻辑F-ALCT(Dfst)

程海涛，马宗民，严丽，张富

《东北大学学报(自然科学版)》

2015

RDF在关系数据库中的存储研究

佟强，张富，程经纬，马宗民

《东北大学学报(自然科学版)》

2010

Web数据库查询结果的自动分类方法

孟祥福，马宗民，严丽，张富

《东北大学学报(自然科学版)》

2009

基于模糊概念模型的模糊本体构建方法

吕艳辉，马宗民，张富

《东北大学学报(自然科学版)》

2009

公共行政价值研究的新动向

张富，赵英男

《天津行政学院学报》，No. 6

下载原文

2006

西方公共行政价值研究述评——基于美国公共行政学经典文献的解读

张富

《华中科技大学学报(社会科学版)》，Vol. 20, No. 5

下载原文

2006

公共行政价值论：意义、现状及可能

张富

《中山大学学报(社会科学版)》，Vol. 46, No. 3

下载原文

2004

公共行政的价值范畴研究

王乐夫，张富

《安徽大学学报(哲学社会科学版)》，Vol. 28, No. 2

下载原文

2004

公共行政的价值范畴研究

张富

《宁夏党校学报》，No. 2

下载原文

精选作品

期刊论文

面向双时态RDF星型查询的两阶段索引方法

EPIC: A Lightweight LiDAR-Based AAV Exploration Framework for Large-Scale Scenarios

BTC: A Binary and Triangle Combined Descriptor for 3-D Place Recognition

An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment

Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry

Safety-critical Decision-making and Control for Autonomous Vehicles with Highest Priority

On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems

Robocentric Model-Based Visual Servoing for Quadrotor Flights

Symbolic Representation and Toolkit Development of Iterated Error-State Extended Kalman Filters on Manifolds

STD: Stable Triangle Descriptor for 3D place recognition

Gemini II: Design, Modeling, and Control of a Compact Yet Efficient Servoless Bi-copter

Robust and Online LiDAR-inertial Initialization

FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry

Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

STV-SC: Segmentation and Temporal Verification Enhanced Scan Context for Place Recognition in Unstructured Environment

Efficient and Consistent Bundle Adjustment on Lidar Point Clouds

Model Predictive Control for Trajectory Tracking on Differentiable Manifolds

ikd-Tree: An Incremental K-D Tree for Robotic Applications

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry

Embedding manifold structures into Kalman filters

Kalman Filters on Differentiable Manifolds

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

FAST-LIO2: Fast Direct LiDAR-Inertial Odometry

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping

Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments

Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras Using Adaptive Voxelization

Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots

Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks

R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs

Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs

Automatic Kinematic Calibration of Multiaxis Gimbal Systems

Low-Cost Retina-Like Robotic Lidars Based on Incommensurable Scanning

BALM: Bundle Adjustment for Lidar Mapping

FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

Hybrid aerial-ground locomotion with a single passive wheel

A Generalized Design Method for Learning-Based Disturbance Observer

Learning Pugachev's Cobra Maneuver for Tail-Sitter UAVs Using Acceleration Model

Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications

Robots’ State Estimation and Observability Analysis Based on Statistical Motion Models

Perching and resting—A paradigm for UAV maneuvering with modularized landing gears

IMU-Based Attitude Estimation in the Presence of Narrow-Band Noise

Coordinate Descent Optimization for Winged-UAV Design

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes

A Screen-Based Method for Automated Camera Intrinsic Calibration on Production Lines

Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV

A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

Flying through a narrow gap using neural network: an end-to-end planning and control approach

基于UML的时空建模

模糊OWL 2本体到模糊关系数据库映射形式化方法

Disturbance Observer Based Hovering Control of Quadrotor Tail-Sitter VTOL UAVs Using $H_\infty$ Synthesis

Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope

A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs

A systematic design framework for iterative learning control with current feedback

Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems

Synthesized Disturbance Observer for Vehicle Lateral Disturbance Rejection

A Scalable Model-Based Learning Algorithm With Application to UAVs

$H_{\infty}$ Based Disturbance Observer Design for Non-minimum Phase Systems with Application to UAV Attitude Control

Real-Time Calibration of Gyro-Magnetometer Misalignment

Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification

Design, implementation and verification of a quadrotor tail-sitter VTOL UAV

Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV)

Design and implementation of a quadrotor tail-sitter VTOL UAV

一种模糊时空描述逻辑F-ALCT(Dfst)

RDF在关系数据库中的存储研究

Web数据库查询结果的自动分类方法

基于模糊概念模型的模糊本体构建方法

公共行政价值研究的新动向

西方公共行政价值研究述评——基于美国公共行政学经典文献的解读

公共行政价值论：意义、现状及可能

公共行政的价值范畴研究

公共行政的价值范畴研究