Feitian Zhang, Ph.D. (Curriculum Vitae | Google Scholar Profile | Bilibili Videos)
Associate Professor and Director of Robotics and Control Laboratory (RCL)
School of Advanced Manufacturing and Robotics, Peking University
Phone: +86-10-62768680, Email: feitian@pku.edu.cn

Biography

Feitian Zhang (张飞天) is an Associate Professor and Director of Robotics and Control Laboratory (RCL) in the School of Advanced Manufacturing and Robotics at Peking University. He received the Bachelor's and Master's degrees in Automatic Control from Harbin Institute of Technology, Harbin, China, in 2007 and 2009, respectively, and the Ph.D. degree in Electrical and Computer Engineering from Michigan State University, East Lansing, MI, in 2014. From 2014 to 2016, he was a Postdoctoral Research Associate in the Department of Aerospace Engineering and Institute for Systems Research at University of Maryland. Prior to joining Peking University, he was an Assistant Professor in the Department of Electrical and Computer Engineering at George Mason University (GMU), Fairfax, VA, and the founding director of the Bioinspired Robotics and Intelligent Control Laboratory (BRICLab) from 2016 to 2021. His research interests include Bioinspired Robotics, Control Systems, Artificial Intelligence, Underwater Vehicles, and Aerial Vehicles.

Announcements

Dr. Zhang is actively hiring postdocs in robotics and controls. To apply, please send your resume and (unofficial) transcripts to Zhang at feitian@pku.edu.cn.

Publications

Books

1. G. Cook and F. Zhang, "Mobile Robots: Navigation, Control and Sensing, Surface Robots and AUVs," Wiley-IEEE Press, 2020

Journal Articles

1. Y. Zhang^#, M. Yang^#, T. Li^#, and F. Zhang^*, "Inductance-Based Force Self-Sensing in Fiber-Reinforced Pneumatic Twisted-and-Coiled Actuators," IEEE Robotics and Automation Letters, accepted
2. Lu Yue^#, Dongliang Zhou, Liang Xie, Erwei Yin^*, and F. Zhang^*, "ST-Booster: An Iterative Spatiotemporal Perception Booster for Vision-and-Language Navigation in Continuous Environments," IEEE Transactions on Multimedia, accepted 
3. J. Tao^#, T. Shen, D. Zhao^* and F. Zhang^*, "ARBoids: Adaptive Residual Reinforcement Learning With Boids Model for Cooperative Multi-USV Target Defense," IEEE Robotics and Automation Letters, vol. 11, no. 3, pp. 3637-3644, 2026
4. Y. Zhang^#, X. Zhou, and F. Zhang^*, "Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators," IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2025.3616174, 2025
5. M. Yang^#, Z. Sha^#, and F. Zhang^*, "Learning-Based Leader Localization for Underwater Vehicles With Optical-Acoustic-Pressure Sensor Fusion," IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2025.3603065, 2025
6. H. Cheng^# and F. Zhang^*, "RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm," IEEE Transactions on Robotics, vol. 41, pp. 5097-5116, 2025
7. J. Tao^#, Y. Zhang^#, S. K. Rajendran, and F. Zhang^*, "An Efficient Learning Control Framework with Sim-to-Real for String-Type Artificial Muscle-Driven Robotic Systems," IEEE/ASME Transactions on Mechatronics, vol. 31, no. 1, pp. 444-455, 2026
8. J. Wang^#, T. Shen, D. Zhao^*, and F. Zhang^*, "Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming," IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 13895-13906, 2025 (selected for presentation at IROS'25)
9. Z. Sha^#, X. Wang^#, M. Yang^#, H. Lei and F. Zhang^*, "A Portable Autonomous Underwater Vehicle With Multi-Thruster Propulsion: Design, Development, and Vision-Based Tracking Control," IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3046-3053, 2025
10. X. Wang^#, Z. Sha^#, and F. Zhang^*, "Adaptive Integral Sliding Mode Control for Attitude Tracking of Underwater Robots With Large Range Pitch Variations in Confined Space," IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 979-986, 2025 (selected for presentation at ICRA'25)
11. J. Wang^#, D. Zhao, Y. Zhao, F. Zhang^* and T. Shen^*, "Estimating the Lateral Motion States of an Underwater Robot by Propeller Wake Sensing Using an Artificial Lateral Line," IEEE/ASME Transactions on Mechatronics, vol. 30, no. 3, pp. 1787-1796, 2025
12. Y. Zhu^#, H. Cheng^#, and F. Zhang^*, "Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning," IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 10986-10993, 2024 (selected for presentation at ICRA'25)
13. M. Yang^#, Z. Sha^# and F. Zhang^*, "A Multimodal Approach Based on Large Vision Model for Close-Range Underwater Target Localization," IEEE/ASME Transactions on Mechatronics, vol. 30, no. 4, pp. 2427-2437, 2025 (selected for presentation at AIM'25)
14. S. Lian^# and F. Zhang^*, "TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Ability," IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 8075-8082, 2024
15. Y. Li^#, X. Bai, L. Xie^*, X. Wang, F. Lu, F. Zhang, Y. Yan, and E. Yin^*, "Real-time Gaze Tracking via Head-eye Cues on Head Mounted Devices," IEEE Transactions on Mobile Computing, doi: 10.1109/TMC.2024.3425928, 2024
16. L. Yue^#, D. Zhou, L. Xie, F. Zhang^*, Y. Yan and E. Yin^*, "Safe-VLN: Collision Avoidance for Vision-and-Language Navigation of Autonomous Robots Operating in Continuous Environments," IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 4918-4925, 2024 (selected for presentation at IROS'24)
17. S. Lian^# and F. Zhang^*, "A Transferability Metric Using Scene Similarity and Local Map Observation for DRL Navigation," IEEE/ASME Transactions on Mechatronics, vol. 29, no. 6, pp. 4423-4433, 2024
18. H. Cheng^#, Z. Sha^#, Y. Zhu^# and F. Zhang^*, "RGBlimp: Robotic Gliding Blimp - Design, Modeling, Development, and Aerodynamics Analysis," IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7273-7280, 2023 (selected for presentation at IROS'24)
19. S. K. Rajendran^#, N. Yao, Q. Wei, and F. Zhang^*, "Design, Implementation, and Observer-Based Output Control of a Super-Coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye," IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5958-5965, 2023
20. S. K. Rajendran^#, and F. Zhang^*, "Design, Modeling, and Visual Learning-based Control of Soft Robotic Fish Driven by Super-coiled Polymers," Frontiers in Robotics and AI, 8(Soft Robotics):809427, 2022
21. S. K. Rajendran^#, Q. Wei, and F. Zhang^*, “Two Degree-of-freedom Robotic Eye: Design, Modeling, and Learning-based Control in Foveation and Smooth Pursuit,” Bioinspiration & Biomimetics, 16(4):046022, 2021
22. F. Dang^#, S. Nasreen^#, and F. Zhang^*, “DMD-Based Background Flow Sensing for AUVs in Flow Pattern Changing Environments,” IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5207-5214, 2021
23. F. Dang^#, and F. Zhang^*, "Distributed Flow Estimation for Autonomous Underwater Robots Using POD-based Model Reduction," Journal of Dynamic Systems, Measurement, and Control, Special issue on Unmanned Mobile Systems, 141.7 (2019): 07101
24. F. Zhang^*, O. Ennasr, and X. Tan, "Gliding Robotic Fish: An Underwater Sensing Platform and Its Spiral-Based Tracking in 3D Space," Marine Technology Society Journal, vol. 51, no. 5, pp. 71-78, 2017
25. F. Zhang, F. Lagor, H. Lei, X. Tan, and D. Paley^*, ''Robotic Fish: Flow-relative Control Behaviors Using Distributed Flow Sensing'', ASME Dynamic Systems and Control Magazine, 138(3): S2-S5, March 2016. Special Issue on Bio-inspired Systems
26. F. Zhang, O. Ennasr, E. Litchman, and X. Tan^*, ''Autonomous sampling of water columns using gliding robotic fish: Algorithms and harmful algae-sampling experiments,'' IEEE Systems Journal, Special issue on Cyber-innovated Environmental Sensing, Monitoring and Modeling for Sustainability, vol. 10, no. 3, pp. 1271-1281, 2016
27. F. Zhang, F. Lagor, D. Yeo, P. Washington, and D. Paley^*, ''Distributed Flow Sensing for Closed-loop Speed Control of a Flexible Fish Robot,'' Bioinspiration & Biomimetics, Special issue on Bio-inspired Soft Robotics, 10(6): 065001, 2015
28. F. Zhang, and X. Tan^*, ''Passivity-based stabilization of underwater gliders with a control surface,'' Journal of Dynamic Systems, Measurement, and Control, 137.6 (2015): 061006
29. F. Zhang, F. Zhang, and X. Tan^*, ''Tail-enabled spiraling maneuver for gliding robotic fish,'' Journal of Dynamic Systems, Measurement, and Control, 136.4 (2014): 041028
30. F. Zhang, J. Thon, C. Thon, and X. Tan^*, ''Miniature underwater glider: Design and experimental results,'' IEEE/ASME Transactions on Mechatronics, vol. 19, no. 1, pp. 394-399, 2014

Conference Articles

1. A. Tanveer, R. Afridi, W. H. Afridi, F. Zhang, G. Xie^*, "Stabilizing 3D Continuum-Arm Rollouts via Equilibrium Anchoring and Feature-Lifted Residual Learning,"" Robotics: Science and Systems (RSS), Sydney, Australia, accepted 
2. J. Wang^#, T. Shen, J. Tao^#, S. Zhang, B. Cai, D. Zhao^∗ and F. Zhang^∗, "Motion State Estimation of an Upstream Underwater Robot via Distributed Pressure Sensing of Propeller Wakes," Journal of Physics: Conference Series, vol. 3265, no. 1, p. 012035, IOP Publishing, 2026 (presented at MCNSP'26, Sanya, China)
3. F. Dang^* and F. Zhang, "Flow-Aided Dead Reckoning for Long-Distance AUV Localization," 13th International Conference on Robot Intelligence Technology and Applications (RITA), Kings College London, United Kingdom, accepted
4. L. Wang^#, M. Yang^#, S. Lian^#, and F. Zhang^*, "Real-Time Object Detection and Motion Estimation on UAVs with Onboard Edge Computing," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, pp. 1-7, 2025
5. H. Wang^#, H. Cheng^#, Y. Fan^#, and F. Zhang^*, "Wind Disturbance Compensation for Path-Following Control of Robotic Blimps Via Deep Reinforcement Learning," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, pp. 1-6, 2025
6. Y. Fan^#, H. Cheng^#, H. Wang^#, and F. Zhang^*, "Multi-Waypoint Navigation Control for Robotic Blimps Using Deep Reinforcement Learning," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, pp. 1-6, 2025
7. G. Qi^#, S. Lian^#, and F. Zhang^*, "Difference-Oriented Network for Enhanced Zero-Shot Object Goal Visual Navigation," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hangzhou, China, pp. 1-7, 2025
8. Y. Zhang^# and F. Zhang^*, "Dynamic Modeling and Motion Control of a TCA-Actuated Robotic Arm with Elbow and Wrist Joints," American Control Conference (ACC), Denver, CO, USA, pp. 4615-4620, 2025
9. J. Tao^#, S. K. Rajendran, Y. Zhang^#, and F. Zhang^*, "Efficient Learning and Control of String-Type Artificial Muscle Driven Robotic Systems", American Control Conference (ACC), Toronto, ON, Canada, pp. 981-987, 2024
10. J. Wang^#, T. Shen, D. Zhao, and F. Zhang^*, "MrDMD-Based Sensor Placement in Distributed Flow Estimation for the Design of the Artificial Lateral Line of an Underwater Robot," the 62nd IEEE Conference on Decision and Control (CDC), Marina Bay Sands, Singapore, pp. 4759-4765, 2023
11. J. Wang^#, T. Shen, D. Zhao, and F. Zhang^*, "Flow Sensing-Based Underwater Target Detection Using Distributed Mobile Sensors," the 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, pp. 2681-2687, 2022
12. S. Rajendran^#, Q. Wei, N. Yao, and F. Zhang^*, "Observability Analysis and Reduced-Order Observer Design for a Super-Coiled Polymer-Driven Robotic Eye," the 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, pp. 1385-1391, 2022
13. S. Rajendran^#, Q. Wei, N. Yao, and F. Zhang^*, "Modeling and Learning-Based Control for Super-Coiled Polymer-Driven Robotic Eye," American Control Conference (ACC), Poster Paper, 2022
14. F. Dang^#, S. Nasreen^#, and F. Zhang^*, "A Novel FFT-Assisted Background Flow Sensing Framework for Autonomous Underwater Vehicles In Dynamic Environment with Changing Flow Patterns,'' IEEE International Conference on Systems, Man and Cybernetics (SMC), Toronto, Canada, pp. 336--341, 2020
15. F. Dang^#, S. Nasreen^#, and F. Zhang^*, "Background Flow Sensing for Autonomous Underwater Vehicles Using Model Reduction with Dynamic Mode Decomposition," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, pp. 125-131, 2020
16. F. Dang^# and F. Zhang^*, ''Distributed Flow Estimation for Autonomous Underwater Robots Using POD-based Model Reduction,'' the 57rd IEEE Conference on Decision and Control (CDC), Miami Beach, FL, pp. 4453-4458, 2018
17. S. Rajendran^# and F. Zhang^*, ''Learning Based Speed Control of Soft Robotic Fish,'' ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, 2018
18. S. Rajendran^#, Q. Wei, and F. Zhang^*, ''Foveation Control of a Robotic Eye Using Deep Reinforcement Learning,'' ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, 2018
19. F. Dang^# and F. Zhang^*, ''DMD-Based Distributed Flow Sensing For Bio-Inspired Autonomous Underwater Robots,'' ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, 2018
20. S. Rajendran^# and F. Zhang^*, ''Developing A Novel Robotic Fish With Antagonistic Artificial Muscle Actuators,'' ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, 2017
21. F. Dang^# and F. Zhang^*, ''Identification of Hydrodynamic Coefficients of a Robotic Fish Using Improved Extended Kalman Filter,'' ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, VA, 2017
22. F. Zhang, P. Washington, and D. Paley^*, ''A Flexible, Reaction-Wheel-Driven Fish Robot: Flow Sensing and Flow-Relative Control'', American Control Conference (ACC), Boston, MA, pp. 1221-1226, 2016
23. F. Zhang, F. Lagor, D. Yeo, P. Washington, and D. Paley^*, ''Distributed flow sensing using Bayesian estimation for a flexible fish robot'', ASME Dynamic Systems and Control Conference (DSCC), Columbus, OH, 2015
24. F. Zhang, O. Ennasr, E. Litchman, and X. Tan^*, ''Autonomous sampling of water columns using gliding robotic fish: Control algorithms and field experiments,'' IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, pp. 517-522, 2015
25. F. Zhang and X. Tan^*, ''Three-dimensional spiral tracking control for gliding robotic fish,'' the 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, pp. 5340-5345, 2014
26. F. Zhang, J. Wang, J. Thon, C. Thon, E. Litchman, and X. Tan^*, ''Gliding robotic fish for mobile sampling of aquatic environments,'' IEEE International Conference on Networking, Sensing and Control (ICNSC), Miami, FL, pp. 167-172, 2014
27. F. Zhang and X. Tan^*, ''Nonlinear observer design for stabilization of gliding robotic fish,'' American Control Conference (ACC), Portland, OR, pp. 4175-4720, 2014
28. F. Zhang and X. Tan^*, ''Gliding robotic fish and its tail-enabled yaw motion stabilization using sliding mode control,'' ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, 2013
29. B. Tian, F. Zhang, and X. Tan^*, ''Design and development of an LED-based optical communication system for underwater autonomous robots,'' IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, pp. 1558-1563, 2013
30. F. Zhang, F. Zhang, and X. Tan^*, ''Steady spiraling motion of gliding robotic fish,'' IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura Algarve, Portugal, pp. 1754-1759, 2012
31. F. Zhang, X. Tan^*, and H. K. Khalil, ''Passivity-based controller design for stabilization of underwater gliders,'' American Control Conference (ACC), Montreal, Canada, pp. 5408-5413, 2012
32. F. Zhang, J. Thon, C. Thon, and X. Tan^*, ''Miniature underwater glider: Design, modeling, and experimental results,'' IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, pp. 4904-4910, 2012
33. A. T. Abdulsadda, F. Zhang, and X. Tan^*, ''Localization of source with unknown amplitude using IPMC sensor arrays,'' Electroactive Polymer Actuators and Devices (EAPAD), Proc. of SPIE, vol. 7976, 2011

Group Members

Current Students

1. Zeyu Sha 沙泽宇 (PhD)
2. Shunheng Xin 辛顺恒 (PhD, co-advised)
3. Xiaorui Wang 王晓睿 (PhD)
4. Yunsong Zhang 张运嵩 (PhD)
5. Yongjian Zhu 朱永健 (PhD)
6. Jiyue Tao 陶继越 (PhD, co-advised)
7. Yingxi Li 李迎熙 (PhD, co-advised)
8. Mingyang Yang  杨明阳 (PhD)
9. Lu Yue 岳露 (PhD, co-advised)
10. Liuyang Wang 王柳杨 (PhD)
11. Hao Cheng  程淏 (PhD)
12. Jun Wang 王俊 (PhD, co-advised)
13. Guolei Qi 戚国磊 (MS)
14. Yusen Tao 陶宇森 (MS)
15. Yachun Shan 单雅淳 (MS)
16. Hongwu Wang 王洪武 (MS)
17. Jiawei Wang 王加威 (BS)
18. Zihan Li 李子涵 (BS)
19. Yangjie Su 苏杨杰 (BS)
20. Haoran Bai 白浩然 (BS)
21. Peiyu You 尤培喻 (BS)
22. Size Chen 陈思泽 (BS)
23. Haotong Qi 祁浩桐 (BS)

Former Graduate Students (since 2021)

1. Yue Fan (MS, currently at Kunlun Digital Technology - China National Petroleum Corporation)
2. Shiwei Lian (MS, currently at AutoNavi Software - Gaode Map)
3. Sunil Kumar Rajendran (PhD, currently BSS Technologies Inc.)
4. Fengying Dang (PhD, currently faculty at Michigan Technological University)