Publications

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Robotics:

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---- Book:

Zhan Wang, Shoudong Huang and Gamini Dissanayake, Simultaneous Localization & Mapping: Exactly Sparse Information Filters. World Scientific.  In Book Series on New Frontiers in Robotics. (Series Editors: M. Vukobratovic and M. Xie). 2011.

---- Journal Publications:

  1. Shuai Yuan, Brad Skinner, Shoudong Huang, Dikai Liu, Gamini Dissanayake, Haye Lau and Daniel Pagac, A job grouping approach for planning container transfers at automated seaport container terminals, Advanced Engineering Informatics. 25 (2011) 413¨C426.
  2. Shoudong Huang, Zhan Wang, Gamini Dissanayake and Udo Frese, Iterated D-SLAM Map Joining: Evaluating its performance in terms of consistency, accuracy and efficiency. Autonomous Robots, (2009) 27: 409¨C429. PDF file
  3. Shoudong Huang, Zhan Wang and Gamini Dissanayake, SSparse local submap joining filters for building large-scale maps. IEEE Transactions on Robotics, Vol. 24, No. 5, 1121-1130, October 2008. PDF file Details
  4. Shoudong Huang and Gamini Dissanayake, Convergence and Consistency Analysis for Extended Kalman Filter based SLAM, IEEE Transactions on Robotics, Vol. 23, No. 5, October 2007,  1036-1049.  PDF file
  5. Zhan Wang, Shoudong Huang and Gamini Dissanayake, D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping, International Journal of Robotics Research, Vol. 26, No. 2, February 2007, pp. 187-204.  PDF file
  6. Lars-Peter Ellekilde, Shoudong Huang, Jaime Valls Miro, Gamini Dissanayake, Dense 3D Map Construction for Indoor Search and Rescue, Journal of Field Robotics. 24(1/2), 71¨C89 (2007) PDF file
  7. Cindy Leung, Shoudong Huang, N. M. Kwok, Gamini Dissanayake, Planning for Information Gathering Under Uncertainty using Model Predictive Control, Robotics and Autonomous Systems. Volume 54, Issue 11, November 2006, Pages 898-910. PDF file
  8. Haye Lau, Shoudong Huang, Gamini Dissanayake, Discounted MEAN bound for the optimal searcher path problem with non-uniform travel times, European Journal of Operational Research, Volume: 190   Issue: 2   Pages: 383-397, October  2008. PDF file

 

---- Conference Publications:

  1. Liang Zhao, Shoudong Huang, Lei Yan and G. Dissanayake, Parallax angle parametrization for monocular SLAM, 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.  pp. 3117-3124. PDF file.
  2. Minjie Liu, Shoudong Huang, and Gamini Dissanayake, Feature based SLAM using laser sensor data with maximized information usage, 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011, pp. 1811-1816.
  3. Gibson Hu, Shoudong Huang, and Gamini Dissanayake, Evaluation of pose only SLAM. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct 2010. pp. 3732-3737. PDF file
  4.  Michael Behrens, Shoudong Huang, and Gamini Dissanayake, Models for pushing objects with a mobile robot using single point contact, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct 2010. pp. 2964-2969. 
  5. Shuai Yuan, Brad Skinner, Shoudong Huang, Dikai Liu, Gamini Dissanayake, Haye Lau, Daniel Pagac and Timothy Pratley, Mathematical modelling of container transfers for a fleet of autonomous straddle carriers, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, May 3-8, 2010,  pp. 1261-1266.
  6. Shoudong Huang, Yingwu Lai, Udo Frese and Gamini Dissanayake, How far is SLAM from a linear least squares problem? Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct 2010. pp. 3011-3016. PDF file.
  7. Minjie Liu, Shoudong Huang, Gamini Dissanayake and Sarath Kodagoda, Towards a consistent SLAM algorithm using B-Splines to represent environments, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, Taipei, Taiwan, Oct 2010. pp. 2065-2070
  8. Gibson Hu, Shoudong Huang and Gamini Dissanayake. 3D I-SLSJF: A Consistent Sparse Local Submap Joining Algorithm for Building Large-Scale 3D Maps, Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, 16-18 December, 2009, pp. 6040-6045. PDF file.
  9. Shoudong Huang, Zhan Wang, Gamini Dissanayake and Udo Frese, Iterated SLSJF: A sparse local submap joining algorithm with improved consistency, 2008 Australiasan Conference on Robotics and Automation. Canberra, December 2008. Available online: http://www.araa.asn.au/acra/acra2008/papers/pap102s1.pdf
  10. Shoudong Huang, Zhan Wang and Gamini Dissanayake, Exact state and covariance submatrix recovery for submap based sparse EIF SLAM algorithms. 2008 IEEE International Conference on Robotics and Automation (ICRA), Pasadena, California, on May 19-23, 2008, pp 1868-1873 PDF file
  11. Cindy Leung, Shoudong Huang, and Gamini Dissanayake, Active SLAM for structured environments, 2008 IEEE International Conference on Robotics and Automation (ICRA), Pasadena, California, on May 19-23, 2008, 1898-1903 PDF file
  12. Haye Lau, Shoudong Huang, Gamini Dissanayake, Multi-Agent Search with Interim Positive Information, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, October 29¨C November 2,  3791-3796. PDF file
  13. Zhan Wang, Shoudong Huang and Gamini Dissanayake, Multi-robot simultaneous localization and mapping using D-SLAM framework. The Third International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), December 3-6, 2007. pp. 317-322
  14. Zhan Wang, Shoudong Huang and Gamini Dissanayake, Tradeoffs in SLAM with sparse information filters, The 6th International Conference on Field and Service Robotics, July 9-12, 2007, Chamonix, France. (Accepted) PDF file
  15. Cindy Leung, Shoudong Huang, Gamini Dissanayake, Active SLAM using Model Predictive Control and Attractor based Exploration, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Beijing, China, October 9 - 15, 2006, 5026-5031. PDF file
  16. Haye Lau, Shoudong Huang, Gamini Dissanayake, Probabilistic Search for a Moving Target in an Indoor Environment, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 9 - 15, 2006, 3393-3398. PDF file
  17. Shoudong Huang and Gamini Dissanayake, Convergence Analysis for Extended Kalman Filter based SLAM, 2006 IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, May 15-19, 2006, 412-417. PDF file
  18. Shoudong Huang, Zhan Wang and G. Dissanayake, Mapping large scale environments using relative position information among landmarks, 2006 IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, May 15-19, 2006, 2297-2302. PDF file
  19. Zhan Wang, Shoudong Huang and Gamini Dissanayake, D-SLAM: Decoupled Localization and Mapping for Autonomous Robots, 12th International Symposium of Robotics Research (ISRR 2005), October 12th-15th, 2005 San Francisco, CA, USA (available online at: http://robot.cc/program.html). PDF file
  20. Zhan Wang, Shoudong Huang and Gamini Dissanayake, Implementation Issues and Experimental Evaluation of D-SLAM,   The 5th International Conference on Field and Service Robotics (FSR),  July 29-31 2005, Port Douglas, Australia. 153-164. PDF file
  21. Cindy Leung, Shoudong Huang, Gamini Dissanayake and Tomonari Furukawa, Trajectory Planning for Multiple Robots in Bearing Only Target Localization, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, August 2-6, 2005.  2312-2317. PDF file
  22. Haye Lau, Shoudong Huang, Gamini Dissanayake and Tomonari Furukawa, Optimal Search for Multiple Targets in a Built Environment,  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, August 2-6, 2005.  228-233. PDF file
  23. Zhan Wang, Shoudong Huang and Gamini Dissanayake, Decoupling Localization and Mapping in SLAM Using Compact Relative Maps,  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, August 2-6, 2005.  1041-1046. PDF file
  24. Gu Fang, N. M. Kwok, Gamini. Dissanayake, Shoudong Huang. Near Minimum Time Path Planning for Bearing-Only Localisation and Mapping,  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada, August 2-6, 2005.  2763-2768. PDF file
  25. Shoudong Huang, N. M. Kwok, Gamini. Dissanayake, Quang. P. Ha and Gu Fang. Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity, 2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 18-22, 2005, 1103-1108. PDF file
  26. Shoudong Huang, Zhan Wang and Gamini Dissanayake, Time optimal robot motion control in Simultaneous Localization and Map Building (SLAM) problem. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, September 28 - October 2, 2004, 3110-3115 PDF file

 

 

Control: 

---- Journal Publications:

  1. Huan Zhang, Shoudong Huang, Matthew R. James, H-infinity control for discrete-time nonlinear switching systems. International Journal of Robust and Nonlinear Control.  18(15):1451-1481, October 2008 PDF file
  2. James Lam and Shoudong Huang. Decentralized H-infinity Control and Reliability Analysis for Symmetric Composite Systems: Dynamic Output Feedback Case. Dynamics of Continuous, Discrete and Impulsive Systems. Series B: Applications and Algorithms. Vol. 14, No. 3, pp. 445-462, May 2007 PDF file
  3. Shoudong Huang, M.R. James, Dragan Nesic and Peter Dower. A Unified Approach to Controller Design for Achieving ISS and Related Properties. IEEE Trans. on Automatic Control. Vol.50, No.11, 1681-1697, 2005. (Regular paper, PDF file)
  4. Shoudong Huang, M.R. James, Dragan Nesic and Peter Dower. Analysis of input to state stability for discrete time nonlinear systems via dynamic programming. Automatica. Vol.41, No.12, 2055-2065, 2005. (Regular paper, PDF file)
  5. Shoudong Huang, M.R. James and Z.P. Jiang, L-infinity bounded robust control of nonlinear cascade systems. Systems & Control Letters, 54(2005), 215-224  PDF file
  6. Shoudong Huang and M.R. James, l-infinity bounded robustness for nonlinear systems: analysis and synthesis. IEEE Trans. on Automatic Control.  Vol.48, No.11, 1875-1891, 2003. (Regular paper, PDF file)  (Full version PDF file)
  7. Haibo Wang, James Lam, Shengyuan Xu and Shoudong Huang. Robust H-infinity reliable control for a class of uncertain neutral delay systems. Int. Journal of Systems Science. Vol.33, No.7, 611-622, 2002. PDF file
  8. Shoudong Huang and James Lam. Saturated linear-quadratic regulation of uncertain linear systems: Stability region estimation and controller design. Int. Journal of Control. Vol.75, No.2, 97-110, 2002. PDF file
  9. Shoudong Huang and James Lam. Local Stabilization of Uncertain Time-Delay Systems with Saturating Actuators. Dynamics of Continuous, Discrete and Impulsive Systems. Series B: Applications and Algorithms. Vol.8, No.3, 375-393, 2001.
  10. Shengyuan Xu, James Lam, Shoudong Huang and Chengwu Yang. H-infinity model reduction for linear time-delay systems: continuous-time case. Int. Journal of Control. Vol.74, No.11, 1062-1074, 2001. PDF file
  11. Shoudong Huang, James Lam and Guang-Hong Yang. Reliable linear-quadratic control for symmetric composite systems. Int. Journal of Systems Science. Vol.32, No.1, 73-82, 2001. PDF file
  12. Shoudong Huang, James Lam, Guang-Hong Yang and Siying Zhang. Fault tolerant decentralized H-infinity control for symmetric composite systems. IEEE Trans. on Automatic Control. Vol.44, No.11, 2108-2114, 1999. PDF file
  13. Shoudong Huang and Siying Zhang. Comments on `Design of decentralized control for symmetrically interconnected systems'. Automatica. Vol.34, No.7, 929-933, 1998. PDF file
  14. Lianwei Zheng, Shoudong Huang and Xiaoping Liu. Robust H-infinity output feedback control for a class of uncertain linear systems with time-delay. Control Theory and Applications. Vol.18, No.6, 935-938, 2001.
  15. Shoudong Huang and Siying Zhang. Some control problems for symmetric circulant composite systems. Control Theory and Applications. Vol.16, No.4, 478-482, 1999. (in Chinese)
  16. Shoudong Huang and Siying Zhang. The stabilization for symmetric circulant composite systems with input saturation. Control Theory and Applications. Vol.16, No.1, 95-99, 1999. (in Chinese)
  17. Shoudong Huang and Siying Zhang. The solving of Riccati equations for a class of large-scale systems with symmetric circulant structure. Control Theory and Applications. Vol.15, No.1, 75-81, 1998.
  18. Shoudong Huang and Siying Zhang. The structural properties of circulant composite systems. Acta Automatica Sinica. Vol.24, No.6, 798-801, 1998. (in Chinese)
  19. Judan Huang, Shuni Song, and Shoudong Huang. The decentralized fixed modes for circulant systems. Journal of Shenyang Institute of Chemical Technology.Vol.14, No.2, 130-133, 2000. (in Chinese)
  20. Judan Huang, Shuni Song, and Shoudong Huang. The decentralized stabilization for symmetric composite systems. Journal of Liaoning Institute of Technology. Vol.20, No.2, 7-11, 2000. (in Chinese)
  21. Gang Wang, Shoudong Huang, and Yuanwei Jing. The decentralized control and output tracking for uncertain symmetric composite systems. Journal of Northeastern University. Vol.19, No.3, 288-291, 1998. (in Chinese)
  22. Shoudong Huang, Baiyou Qiao, Juyong Huang and Siying Zhang. The controllability through a single channel for symmetric composite systems. Journal of Northeastern University. Vol.18, No.6, 644-647, 1997. (in Chinese)
  23. Shoudong Huang, Juyong Huang and Siying Zhang. The robust output regulation for symmetric composite systems. Journal of Northeastern University. Vol.18, No.4, 408-412, 1997. (in Chinese)

 

---- Conference Publications:

 

 

  1. Shoudong Huang and Steven W. Su, Robust control for nonlinear discrete-time systems with quantitative Input to State Stability requirement,  The 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea. (Accepted, December 2007) PDF file
  2. Shoudong Huang, Matthew R. James, Dragan Nesic and Peter M. Dower, Measurement feedback controller design to achieve input to state stability, Proceeding of the 43rd IEEE Conference on Decision and Control. in Atlantis, Paradise Island, Bahamas, December 14-17, 2004. 2515-2520. PDF file
  3. Shoudong Huang, M.R. James and Z.P. Jiang, L-infinity bounded robust control of nonlinear cascade systems. Proceeding of the 5th Asian Control Conference, Melbourne, Australia, July 20-23, 2004, 531-538. PDF File
  4. Shoudong Huang, M.R. James, Dragan Nesic and Peter Dower. Analysis of input to state stability for discrete time nonlinear systems via dynamic programming. Proceedings of the 42nd IEEE Conference on Decision and Control, Hyatt Regency Maui, Hawaii, USA, December 9-12, 2003, 5068-5073. PDF file
  5. Shoudong Huang, M.R. James, Dragan Nesic and Peter Dower. On input to state stabilization for nonlinear discrete-time systems: a dynamic programming approach. Proceedings of the 2003 European Control Conference,University of Cambridge, UK, September 1-4,2003. PDF file
  6. Shoudong Huang and James Lam. Control of uncertain bilinear systems using linear controllers: stability region estimation and controller design. Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada USA, December 10-13, 2002, 662-667. PDF file
  7. Shoudong Huang, James Lam and Bing Chen. Local reliable control for linear systems with saturating actuators. Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada USA, December 10-13, 2002, 4154-4159. PDF file
  8. M.R. James and Shoudong Huang, l-infinity bounded robust control for nonlinear discrete time systems. Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada USA, December 10-13, 2002, 3748-3753. PDF file
  9. Haibo Wang, James Lam, Shengyuan Xu and Shoudong Huang. Reliable control for uncertain neutral delay systems with actuator failures. Proceeding of the 3rd International Conference on Control Theory and Applications, Pretoria, South Africa, December 2001, 589-593. PDF file
  10. Shoudong Huang, Lianwei Zheng, Guang-Hong Yang and Siying Zhang. Decoupling control for symmetric circulant composite systems. Proceedings of the 14th IFAC World Congress. Beijing, P.R.China. July, 1999, Volume L, 243-248.
  11. Shoudong Huang and Siying Zhang. Decentralized fault tolerant stabilization for symmetric composite systems. Proceeding of the American Control Conference, Philadelphia, June 1998, 2477-2480.
  12. Shoudong Huang, Guanghong Yang, Yuanwei Jing and Siying Zhang. The decentralized fixed modes of Twin Lift Systems. Proceeding of the American Control Conference, Albuquerque, New Mexico, June 1997, 2388-2389.
  13. Shoudong Huang, Kai Zhang and Juyong Huang. The decoupling conditions for symmetric circulant composite systems. Proceeding of the Chinese Control Conference, Lushan, Jiangxi, August 1997, 32-34. (in Chinese)
  14. Kai Zhang, Juyong Huang and Shoudong Huang. The output regulation for symmetric circulant composite systems. Proceeding of the Chinese Control Conference, Lushan, Jiangxi, August 1997, 49-50. (in Chinese)

 

Nonlinear Analysis:

 

---- Journal Publications:

 

 

  1. Shoudong Huang and Jie Li. Some fixed point theorems for k-set contractions. Northeastern Math. J., Vol.9, No.1, 63-68, 1993.

 

 

 

---- Conference Publications: 

 

  1. Shoudong Huang. Some new fixed point theorems for k-set contractions. Proceeding of the 2rd Chinese Youth Academic Conference. Dalian, Liaoning, September 1995, 102-103. (in Chinese)
  2. Shoudong Huang. The existence of eigenvalues for k-set contractions. The 8th Chinese Nonlinear Function Analysis Conference. Shenyang, Liaoning, July 1993. (in Chinese)

 

 

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