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PublicationsCCNY Robotics Lab
PRISM Center at CCNY
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My Publications...
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---Journal publications--- ---Refereed Conference Publications--- ---Papers presented at Meetings---
---On-line papers--- ---Technical Report--- ---Theses and Dissertation---

Journal Publications

  • Xiaohai Li and Jizhong Xiao, “A Biologically Inspired Controller for Swarms in Dynamic Environments”, Special Issue on Swarm Robotics, International Journal of Intelligent Control and Systems, Sept. 2006.  
  • Xiaohai Li and Jizhong Xiao, “Robot Formation Control in Leader-Follower Motion
    Using Direct Lyapunov Method”, International Journal of Intelligent Control and Systems,
    pp244-250, Vol. 10, No. 3, Sept., 2005.
  • Jizhong Xiao, Jun Xiao, Ning Xi, Hans Dulimarta, R. L. Tummala, Mark Minor,
    R. Mukherjee, “Modeling, Control, and Motion Planning of a Climbing Micro-robot”,
    Journal of Integrated Computer-aided Engineering, pp 289-307, Vol. 11, No. 4, 2004.
  • Jun Xiao, Jizhong Xiao, Ning Xi, R. Lal Tummala, Ranjan Mukherjee,
    “Fuzzy Controller for Wall-climbing Micro-robots”, IEEE Transaction on Fuzzy Systems,
    pp 466-480, Vol. 12, No. 4, Aug., 2004.
  • Jizhong Xiao, Jun Xiao, Ning Xi, “Intelligent Control of a Miniature Climbing Robot”,
    Journal of Advanced Computational Intelligence and Intelligent Informatics, pp 260-268,
    Vol. 8, No. 3, 2004.
  • R.L. Tummala , R. Mukherjee, Ning Xi, D. Aslam, H. Dulimarta, Jizhong Xiao, M. Minor,
    G. Dangi, “Climbing the Walls”, IEEE Robotics and Automation Magazine, Vol. 9,
    No. 4, pp10-19, Dec. 2002.
  • Qing Song, Jizhong Xiao, “Design of a robust adaptive neural tracking controller”,
    Journal of Intelligent and Robotics Systems, 27 (4), pp 363-377, Apr. 2000.
  • Qing Song, Jizhong Xiao, Yeng Chai Soh, “Robust Back propagation Training Algorithm
    for Multi-layered Neural Tracking Controller”, IEEE Transactions on Neural Networks,
    Vol. 10, No. 5, pp 1133-1141, 1999.
  • Qing Song, Jizhong Xiao, Yeng Chai Soh, “On the Convergence Performance of
    Multilayered Neural Network Tracking Controller”, Neural, Parallel & Scientific Computations,
    Vol. 5, No. 4, pp459-468, 1997.
  • Jizhong Xiao, Yalou Huang, Xiangqiu Zeng, Guizhang Lu, “A New Approach to the
    Adaptive Force Control of Industrial Robot”, Robot, A Journal of Chinese Association
    of Automation, Vol. 18, No. 4, pp193-200, 1996.

Papers under review:

  • Jizhong Xiao, Zhigang Zhu, “City Climber at Work”, IEEE Robotics and Automation Magazine, 2007, submitted.
  • Ibrahim  Hoklek, Jianping Zou, Umit Uyar, Jizhong Xiao, Narashiman Chakravarthy, Ahmed Abdelal, Kala Henry, Mariusz A. Fecko, and Sunil Samtani, “Dynamic Survivable Resource Pooling in FPGA-based Distributed Robotics System”, IEEE Transaction on Robotics, 2006, under review.
  • Jindong Tan, Jizhong Xiao, Flavio Cabrera-Mora, Hemjit Sawant, and Qingyan Yang, “A Sensor Network Approach for Cooperative Drive Safety in Intelligent Transportation Systems”, IEEE Transaction on Intelligent Transportation Systems, 2006, under 2nd round review.

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Refereed Conference Publications

  • Ravi Kaushik, Marek Marcinkiewicz, Jizhong Xiao, Simon Parsons, Theodore Raphan, “Implementation of Bio-Inspired Vestibulo-Ocular Reflex in a Qudrupedal Robot”, 2007 IEEE International Conference on Robotics and Automation, April 10-14, Roma Italy, 2007, to appear.
  • Matthew Elliott, Jizhong Xiao, William Morris, Angel Calle, “City-Climbers at Work”, Video contributions, 2007 IEEE International Conference on Robotics and Automation, April 10-14, Roma Italy , 2007, to appear.
  • Flavio Cabrera-Mora, Jizhong Xiao and Yi Sun, “Effects of Communication on Mobile Sensor Networks”, 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp1452-1457, Beijing, China, Oct. 2006.
  • Narashiman Chakravarthy, Jizhong Xiao, “FPGA-based Control System for Miniature Wall-climbing Robots”, 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp3399-3404, Beijing, China, Oct. 2006. 
  • Yi Feng, Zhigang Zhu, Jizhong Xiao, “Heterogeneous Multi-robot Localization in Unknown 3D Space”, 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp4533-4538, Beijing, China, Oct. 2006.
  • Matthew Elliot, William Morris, Jizhong Xiao, “City-Climber, a new generation of wall-climbing robots”, in Video Proceedings of 2006 IEEE International Conference on Robotics and Automation, May 15-19, 2006, Orlando, USA, (one of the three finalist for the ICRA2006 BEST VIEDO AWARD)
  • Jizhong Xiao, William Morris, Narashiman Chakravarthy, Angel Calle, “City-climber: a New Generation of Mobile Robot with Wall-climbing Capability”, Proc. of SPIE Vol. 6230, 62301B, 2006 SPIE Defense & Security Symposium, 17-21 April 2006, Orlando, Florida,  USA.
  • Xiaohai Li, Jizhong Xiao, and Zijun Cai, “Stable Flocking of Swarms by Local Information”, Int. Conf. on Systems, Man and cybernetics, pp3921-3926, Oct. 2005.
  • Jizhong Xiao, Ali Sadegh, Matthew Elliot, Angel Calle, Avinash Persad, Ho Ming Chiu, “Design of Mobile Robots with Wall Climbing Capability”, Proc. of the 2005 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp438~443, July 24-28, 2005.
  • Jizhong Xiao, Angel Calle, Ali Sadegh, Matthew Elliot, “Modular Wall Climbing Robots with Transition Capability”, Proc. 2005 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO), pp246-250, 2005.
  • Xiaohai Li, Jizhong Xiao, and Zijun Cai, “Backstepping Based Multiple Robots Formation Control” Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp1313-1318, 2005.
  • Xiaohai Li, Jizhong Xiao, Jindong Tan, "Modeling and Controller Design for Multiple Mobile Robots Formation Control", IEEE International Conference on Robotics and Biomimetics, Reference No. 250, 2004.
  • Jizhong Xiao, Angel Calle, Jing Ye, Zhigang Zhu, "A Mobile Robot Platform with DSP-based Controller and Omnidirectional Vision System", IEEE International Conference on Robotics and Biomimetics, Reference No. 340, 2004.
  • Jun Xiao, Jizhong Xiao, Ning Xi, Weihua Sheng, “Fuzzy System Approach for Task Planning and Control of Micro Wall-climbing Robots”, 2004 IEEE Intl. Conf. on Robotics and Automation,ICRA’2004,  pp5033-503, New Orleans, April 27-May ,1, 2004.
  • Jindong Tan, Ning Xi, Weihua Sheng, Jizhong Xiao, “Modeling Multiple Robot Systems for Area Coverage and Cooperation”, 2004 IEEE Intl. Conf. on Robotics and Automation, ICRA’2004, pp2568-2573, New Orleans, April 27-May 1, 2004.
  • Yantao Shen, Ning Xi, U.C. Wejinya, Wen J. Li, Jizhong Xiao, “Infinite Dimension System Approach for Hybrid Force/Position Control in Micromanipulation”, 2004 IEEE Intl. Conf. on Robotics and Automation, ICRA’2004, pp2912-2917, New Orleans, April 27-May 1, 2004.
  • Jizhong Xiao, Jun Xiao, Ning Xi, Jindong Tan, “Multi-sensor Referenced Gait Control of a Miniature Climbing Robot”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS’2003, pp3656-p3661, Las Vegas, Oct. 27-31, 2003.
  • Zhigang Zhu, Jizhong Xiao, "Omni Stereo Vision of Cooperative Mobile Robots", Invited talk, IROS'03 workshop on Control and Cooperation of Intelligent Miniature Robots, Las Vegas, Oct. 31, 2003.
  • Jizhong Xiao, Jun Xiao, Ning Xi, “Minimal Power Control of a Miniature Climbing Robot”, IEEE/ASME Int. Conference on Advanced Intelligent Mechatronics, AIM 2003, pp616-621, July 20-24, 2003.
  • Jizhong Xiao, Hans Dulimarta, Ning Xi, R. Lal Tummala, “Motion Planning of a Bipedal Miniature Crawling Robot in Hybrid Configuration Space”, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, IROS 2002, Vol. 3, pp 2407-2412, 2002.
  • Jizhong Xiao, Hans Dulimarta, Ning Xi, R. Lal Tummala, “Modeling and Control of an Under-actuated Miniature Crawler Robot”, Proc. of 2001 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, IROS’01, Hawaii, USA, pp1546-1551, 2001.
  • Jizhong Xiao, Hans Dulimarta, Zenyu Yu, Ning Xi, R. Lal Tummala, “DSP Solution for Wall-climber Micro-robot Control Using TMS320LF2407 Chip”, 43rd Midwest Symposium on Circuits and Systems, Vol. 3, pp1348-1351, 2000.
  • Jizhong Xiao, Qing Song, Danwei Wang, “A Learning Control Scheme Based on Neural Network for Repeatable Robot Trajectory Tracking”, 14th IEEE Symposium on Intelligent Control/Intelligent Systems and Semiotics, ISIC/ISAS’99, pp 102-107, 1999.
  • Qing Song, Jizhong Xiao, Yeng Chai Soh, “On the Convergence of Neural Tracking Controller for Robotics”, Proc. of 37th IEEE Conference on Decision and Control, CDC’98, Vol. 2, pp 1593-1598, 1998.
  • Jizhong Xiao, Qing Song, “A Neural Network Approach for Robot Learning Control with Dead-Zone Technique”, Proc. of Fifth International Conference on Control, Automation, Robotics and Vision, ICARCV’98, pp 345-349, 1998.
  • Bing Qiao, Jianying Zhu, Jizhong Xiao, Danwei Wang, “Fuzzy Force/Position Control of Robotic Manipulator Based on Force Feedback”, Proc. of Fifth International Conference on Control, Automation, Robotics and Vision, ICARCV’98, pp 757-760, 1998.
  • Jizhong Xiao, Xiangqiu Zeng, Yalou Huang, Guizhang Lu, “Adaptive Force Control for Position-controlled Robot Manipulators”, Proc. IEEE Int. Conf. on Computer, Communication, Control and Power Engineering”, TENCON’93, Vol. 4, p94-98, 1993.

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Papers Presented at Meetings

  • Yi Feng, Jizhong Xiao and Zhigang Zhu, “Calibration and Error Characterization of an Omnidirectional Vision System for Multiple-Robot Coordination”, Einstein in the City Conference, April 11-12, City College of New York.
  • Angel Calle, Jizhong Xiao, “Control System Design for Climbing Robots”, Einstein in the
    City Conference, April 11-12, City College of New York.

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On-line Papers

  • Jizhong Xiao, Hans Dulimarta, Zenyu Yu, Ning Xi, R. Lal Tummala, “Controller Design for an Autonomous Wall-climbing Micro-robot Based on TI 320LF2407 DSP Chip”, Digital Control Systems Applications Symposia, DSPSFEST’2000, Houston, Texas, August 2-4, 2000.
    (First Paper on TMS320LF2407 DSP applications, listed on TI website)

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Technical Report

  • Jizhong Xiao, Zhigang Zhu, Myung Lee, and George Wolberg, “Shaping the PRISM Center”, the 1st year report, 2006 NSF-CRI PI workshop, Snowbird, Utah, June 19~June 21, 2006.
  • Z. Zhu, Jizhong Xiao, “PRISM: Planning a Center for Perceptual Robotics, Intelligent Sensors and Machines at the City College of New York”, 2005 NSF CISE/CNS Infrastructure PI Meeting, Siebel Center for Computer Science, Urbana, Illinois, July 25, 2005.
  • Jizhong Xiao, Xiangqiu Zeng, Yalou Huang, Guizhang Lu, “A Self-adjusting Algorithm for Manipulator Force Control -- Analysis and Experiment”, Technical Report of National Laboratory of Intelligent Robot Control, Nankai University, China, Vol. 1, p100-104, 1994.

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Theses and Dissertation

  • “Development of Miniature Climbing Robots ---- Modeling, Control and Motion Planning”,
    Ph.D. Dissertation, Michigan State University, USA, August 2002.
  • “A Study of Neural Network and Its Application in Robot Manipulator Control”,
    Master Thesis, Nanyang Technological University, Singapore, 1999.
  • “Robot Force Control”, Master Thesis, East China Institute of Technology,
    P. R. China, 1993.
  • (Qing Song, Yin L. and Y.C. Soh “Shifting of the Center of Radial Basis Function
    Neural Network in the Presence of Disturbance”, Neural & Parallel Computation Vol. 7,
    No. 1, pp 43-53, 1999.)

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