个人简历

广东科技创新青年拔尖人才，深圳市航空航天大数据图像感知技术与装备重点实验室学术带头人。2009年7月和10月分别获得中国科学技术大学和香港城市大学两校博士学位，2014-2015年在世界著名机器人实验室ETHZ-ASL担任访问学者。陈浩耀博士长期从事国际前沿机器人学研究，先后承担了深圳市基础研究、广东省科技厅、国家自然科学基金（青年面上及重点）等科技项目10余项，在仿生机器鱼、野外越障机器人、多机器人集群系统和微观多智能体操作方面做出了重要成果，其中首次将多机器人协同技术应用到微观领域，用于实现基于光镊操作臂的细胞集群操作，为生物领域提供了加快产出率的可行方法。目前已经在机器人领域最顶级期刊和学术会议TRO、IJRR、Automatica、TMECH、TBME、IROS及ICRA等发表学术论文60余篇，发表英文专著1部，分别获得了国际会议ROBIO和ICUS最佳会议论文提名奖和最佳论文奖，是国家自然科学基金面上基金，浙江省自然科学基金重点项目，香港RGC项目同行评审专家。担任国际会议ICVS2017的大会程序主席，国际会议IEEE RCAR2016的大会程序副主席，国际会议IROS2019大会展会主席，以及IEEE-NANO2013的大会展会主席等。
教育经历：
2004/09-2009/07 中国科学技术大学精密机械与精密仪器系 精密仪器与机械 联合培养博士(保送)
2005/07-2009/10 香港城市大学机械设计与设计管理系 机器人技术 联合培养博士(保送)
2000/09-2004/07 中国科学技术大学精密机械与精密仪器系 机械设计及其自动化 学士，优秀毕业生
工作经历
2020/01-至今 哈尔滨工业大学（深圳） 教授，硕士生导师/博士生导师
2012/07-2019.12 哈尔滨工业大学（深圳） 副教授，硕士生导师/博士生导师
2014/11-2015/11 瑞士苏黎世联邦高工 自主系统实验室 访问学者
2009/07-2012/06 哈尔滨工业大学深圳研究生院 助理教授
招收博士后n>1名、2022级硕士研究生4名, 要求：
1. 具有扎实的数理基础（数学分析、高等代数、概率学和随机过程）；
2. 具有扎实的控制理论或算法理论基础；
3. 具有扎实的C/C++/Python，ROS编程；
4. 具有丰富的项目经验；
5. 具有很好的中英语表达能力和撰写水平。
科研项目
201401-201612 深圳市基础研究计划，基于协同感知的灾难现场多无人机协作搬运研究，30万，项目负责人，结题
2015-2017 广东省科技计划项目，智能机器人与网络控制云平台研究，30万，项目负责人，结题
201101-201312 国家自然科学青年基金项目，基于机器人网络的多机器人同步定位与制图研究，20万，项目负责人，结题
201607-201907 深圳市基础研究计划基础布局项目，带机械臂的操作型无人机轨迹规划与控制研究，300万，项目负责人，结题
201701-202012 国家自然科学基金面上项目，多约束耦合的快速搬运型无人机运动规划与飞行控制研究，项目负责人，结题
201705-202012 深圳市经信委创新链产业链融合专项，3D 视觉SLAM 与导航关键技术研究，项目负责人，结题
201801-202112 国家自然科学基金-深圳联合重点项目，仿生两栖作业机器人关键技术，项目负责人，在研
202012-202312 深圳市基础研究计划重点项目 多机器人室外三维扫描与重建，项目负责人，在研
202012-202112 某集团无人作业系统，项目负责人，在研
科研成果及奖励
ICUS2017 最佳会议论文奖
ROBIO2016 T.J. TAN最佳会议论文提名奖
第二届国际青少年无人机大赛 最高奖-特等奖
2018京东数字科技全球探索者大赛 全球总决赛第二名
广东省特支计划 科技创新青年拔尖人才
教育部自然科学奖 二等奖（第二完成人）
首届“智创杯”救援机器人挑战赛全球锦标赛 冠军
Patents
11. 《一种基于仿生的飞行机械颈眼系统及控制方法》，申请号：2019111721336，2019
10. 《一种聚类地图创建方法及基于聚类地图和位置描述子匹配的重定位方法》，申请号：CN110084272A， 2019, 授权
9. 《一种基于三维激光增稠机构的多帧融合方法》，申请号：CN110118974A，2019
8. 《一种基于自然特征的飞行机械臂视觉伺服抓取方法》，申请号：CN109895099A，2019，授权
7. 《一种基于力反馈装置和vr感知的飞行机械臂系统及控制方法》，申请号：CN109164829A， 2018
6. 《一种基于仿生的机器人感知控制系统及控制方法》, 申请号：CN109079799A， 2018
5. 《一种带有柔性抓取器的飞行机械臂》，申请号：CN106985159A， 2017
4. 《一种无人机及其基于视觉的抓取方法》，申请号：CN107139178A， 2017
3.《一种基于多机器人和高斯信号模型的自适应最优自组网方法》，申请号：CN106899991A，授权
2. 《一种针对服务机器人的高维操作臂遥操作方法》，公开号：CN104057450 A，授权
1. 《自主轮式路由器及其自主运动控制方法》，公开号：CN104052674 A，授权

研究领域

飞行机械臂等无人搬运系统的自主驾驶
混杂环境下的机器人的环境感知与认知
户外地面机器人与无人机协同感知与操作
混合多无人自主系统协作""

近期论文

19. Ming Cao, Pengpeng Su, Haoyao Chen*, Shiyu Tang and Yunhui Liu, “3-D Dense Rangefinder Sensor With a Low-Cost Scanning Mechanism,” in IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1-11, 2021, Art no. 7500411, https://doi.org/10.1109/TIM.2020.3016415. (SCI: 3.658)
18. Bin Luo, Haoyao Chen*, Fengyu Quan, Shiwu Zhang, and Yunhui Liu, Natural Feature-based Visual Servoing for Grasping Target with an Aerial Manipulator, Journal of Bionic Engineering, 17, 2020:215-228. https://doi.org/10.1007/s42235-020-0017-4. (SCI: 2.463) （封面论文）
17. Jiabi Sun, Jing Song, Haoyao Chen*, and Yunhui Liu, Autonomous State Estimation and Mapping in Unknown Environments with Onboard Stereo Camera for MAVs, IEEE Transactions on Industrial Informatics, 16(9), 2020:5746-5756. https://doi.org/10.1109/TII.2019.2958183 (SCI：7.377) [bibtex]
16. Zhiqiang Miao, Yunhui Liu, Yaonan Wang, Haoyao Chen, Hang Zhong, and Rafael Fierro, Consensus With Persistently Exciting Couplings and Its Application to Vision-Based Estimation, IEEE Transactions on Cybernetics, June 10, 2019. https://doi.org/10.1109/TCYB.2019.2918796 (SCI: 10.387)
15. Zhichen Pan, Haoyao Chen*, Silin Li and Yunhui Liu， ClusterMap Building and Relocalization in Urban Environments for Unmanned Vehicles，Sensors，19(19), 2019:4252. https://doi.org/10.3390/s19194252, （SCI：3.031）[bibtex]
14. Haoyao Chen*, Fengyu Quan, Linxu Fang, and Shiwu Zhang, Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation, Sensors, 19(19):2019:4253. https://doi.org/10.3390/s19194253（SCI：3.031） [bibtex]
13. Xuefeng Wang, Haoyao Chen*, Yanjie Li, and Hailin Huang. Online Extrinsic Parameter Calibration for Robotic Camera-Encoder System, IEEE Transactions on Industrial Informatics, 15(8), 2019:4646-4655. https://doi.org/10.1109/TII.2019.2894106（SCI：7.377） [bibtex]
12. Haoyao Chen*, Hailin Huang, Ye Qin and Yunhui Liu, Vision and Laser Fused SLAM in Indoor Environments with Multi-Robot System, Assembly Automation, 39(2), 2019:297-307. https://doi.org/10.1108/AA-04-2018-065 (SCI: 2.056) [bibtex]
11. Yanjie Li*, Xinyu Wu, Yunjiang Lou, Haoyao Chen, Jiangang Li, Coupling based Estimation Approaches for the Average Reward Performance Potential in Markov Chains, Automatica, 93, 2018:172-182. https://doi.org/10.1016/j.automatica.2018.03.011 (SCI, 6.126) [bibTex]
10. Yajun Gao, Haoyao Chen*, Yanjie Li, and Congyu Lyu and Yunhui Liu, “Autonomous Wi-Fi Relay Placement With Mobile Robots,” in IEEE/ASME Transactions on Mechatronics, vol. 22, no. 6, pp. 2532-2542, Dec. 2017. https://doi.org/10.1109/TMECH.2017.2751149 (SCI, 4.357) [bibtex]
9. W. Zhou, C. Lyu, X. Jiang, W. Zhou, P. Li, H. Chen, T. Zhang, and Y.-H. Liu. Efficient and Fast Implementation of Embedded Time-of-Flight Ranging System Based on FPGAs. IEEE Sensors Journal, 17(18), 2017; (SCI, 2.512)
8. C.Y. Lv, Y.H. Liu, X. Jiang, P. Li, and H. Chen. High-speed object tracking with its application in golf playing. International Journal of Social Robotics, 9(3):449-461, 2017; (SCI, 2.559)
7. Congyu Lv, Haoyao Chen*, Yunhui Liu, Xin Jiang, and Peng Li. “Real-time Object Tracking System Based on FPGA and Convolution Neural Network”, International Journal of Advanced Robotic Systems, 2017:1-14. https://doi.org/10.1177/1729881416682705 (SCI, 0.987) [bibtex]
6. Haoyao Chen*, Can Wang, Xiaojian Li, and Dong Sun, “Transportation of Multiple Biological Cells Through Saturation-Controlled Optical Tweezers In Crowded Microenvironments,” in IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 888-899, April 2016. https://doi.org/10.1109/TMECH.2015.2483640 (SCI,4.357) [bibtex]
5. Haoyao Chen*, Can Wang, and Yunjiang Lou, “Flocking Multiple Microparticles With Automatically Controlled Optical Tweezers: Solutions and Experiments,” in IEEE Transactions on Biomedical Engineering, vol. 60, no. 6, pp. 1518-1527, June 2013. doi: 10.1109/TBME.2013.2238538. (SCI, 3.577) (Bibtex)
4. Haoyao Chen*, and Dong Sun, “Moving Groups of Microparticles Into Array With a Robot–Tweezers Manipulation System,” in IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1069-1080, Oct. 2012. https://doi.org/10.1109/TRO.2012.2196309. (SCI,2.536) (Bibtex)
3. Haoyao Chen*, Dong Sun, Jie Yang and Jian Chen, “Localization for Multirobot Formations in Indoor Environment,” in IEEE/ASME Transactions on Mechatronics, vol. 15, no. 4, pp. 561-574, Aug. 2010. https://doi.org/10.1109/TMECH.2009.2030584. (SCI,3.427) (Bibtex)
2. Jian Chen, Dong Sun, Jie Yang, and Haoyao Chen, “A leader-follower formation control of multiple nonholonomic mobile robots incorporating receding-horizon scheme,” International Journal of Robotics Research, 29(6), pp. 727-747, 2010. https://doi.org/10.1177/0278364909104290. (SCI, 3.107)
1. Haoyao Chen*, Dong Sun, and Jie Yang, “Global localization of multirobot formations using ceiling vision SLAM strategy,” Mechatronics, 19(5), pp. 617-628, 2009. https://doi.org/10.1016/j.mechatronics.2009.01.011 (SCI,1.726)
Conferences
41. Y. Wu, A. Xiao, H. Chen, S. Zhang and Y. Liu, “Amphibious Robot’s Trajectory Tracking with DNN-Based Nonlinear Model Predictive Control,” 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, USA, 2020, pp. 2019-2024, doi: 10.1109/AIM43001.2020.9159003.
40. T. Yang, Y. Zhang, P. Li, Y. Shen, Y. Liu and H. Chen, “SNIAE-SSE Deformation Mechanism Enabled Scalable Multicopter: Design, Modeling and Flight Performance Validation,” 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 864-870, doi: 10.1109/ICRA40945.2020.9197025.
39. Chenghao Li, Shuang Liu, Qiaoyang Xia, Hui Wang, and Haoyao Chen, Automatic Container Code Localization and Recognition via an Efficient Code Detector and Sequence Recognition. AIM 2019: 532-537.
38. Y. Fei, H. Chen, F. Quan, C. Wang and Y. Liu, “Swan-Inspired Unmanned Aerial Vehicles With Long-neck Visual Perception System,” 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hong Kong, China, 2019, pp. 1335-1340, doi: 10.1109/AIM.2019.8868743.
37. Hu Jin, Tao Fang, Haoyao Chen, Tanju Yildirim, Weihua Li, Shiwu Zhang, Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model. RCAR 2019: 761-766.
36. Fengyu Quan, H. Chen*, Y. Li, Y. Lou and Y. Liu, “Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator,” in Proceedings of IEEE International Conference on Robotics and Biomimetics(ROBIO),2018,pp:562-568.
35. Yaqi Wu, Jin Song, Jiabi Sun, Fenfang Zhu, Haoyao Chen*, Aerial Grasping Based on VR Perception and Haptic Control, RCAR, 2018:556-562.
34. Lili Zhou, Wenfu Xu, Haoyao Chen, Hailin Huang, Han Yuan, Design and Kinematic Analysis of a Modular Re-Configurable Cable-Driven Parallel Robot. RCAR 2018: 620-625.
33. B. Ouyang, H.J. Mo, H. Chen, Y.H. Liu, and D. Sun, Robust Model-Predictive Deformation Control of a Soft Object by Using a Flexible Continuum Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 2018:613-618.
32. Shunbo Zhou, Zhiqiang Miao, Zhe Liu, Hongchao Zhao, Hesheng Wang, Haoyao Chen, Yun-Hui Liu, Vision-Based State Estimation and Trajectory Tracking Control of Car-Like Mobile Robots with Wheel Skidding and Slipping, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp. 4270-4275, 2018.
31. Lingxu Fang, Haoyao Chen*, Yunjiang Lou, Yanjie Li, and Yunhui Liu, Visual Grasping for a Lightweight Aerial Manipulator Based on NSGA-II and Kinematic Compensation, IEEE International Conference on Robotics and Automation (ICRA2018), 2018:3488-3493. (Bibtex)
30. Xuefeng Wang, Haoyao Chen*, and Yanjie Li, Online Calibration for Monocular Vision and Odometry Fusion, IEEE International Conference on Unmanned Systems, 2017:602-607. (Best Paper Award).
29. Jiayuan Yang, Yanjie Li, Haoyao Chen and Jianggang Li, Average Reward Reinforcement Learning for Semi-Markov Decision Processes, ICONIPS,2017.
28. Shiyu Chen, Yanjie Li, and Haoyao Chen, A Monocular Vision Localization Algorithm Based on maximum likelihood estimation, RCAR, 2017.
27. E.P. Jia, H. Chen*, Y.J. Li, and Y.J. Lou, Y.H. Liu, Visual Servo Tracking Control of Quadrotor With A Cable Suspended Load, International Conference on Computer Vision Systems, 2017.
26. X. Liang, H. Chen*, Y.J. Li, and Y.H. Liu. Visual Laser-SLAM in Large-scale Indoor Environments, IEEE Conf. on Robotics and Biomimetics, DEC. 3 – DEC. 7, 2016, Qingdao, China, pp.19-24. (T.J. Tarn Best Paper in Robotics Finalist)
25. R. Shi, Y.J. Lou, Y.Q. Shao, J.G. Li, and H. Chen. A Novel Contouring Error Estimation for Position-Loop Cross-Coupled Control of Biaxial Servo Systems, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Oct. 2016, pp.2197-2202.
24. Y.J. Gao, H. Chen*, Y.J. Li, and Y.H. Liu. Autonomous WiFi-Relay Control with Mobile Robots. Proceedings of the IEEE International Conference on Real-time Computing and Robotics, 2016,pp.198-203.
23. M.X. Zhang, Y.J. Li, and H. Chen. A semi-Markov Decision Process Based Dynamic Power Management for Mobile Devices. Proceedings of the IEEE International Conference on Real-time Computing and Robotics, 2016,pp.249-254.
22. J.F. Zhai, Y.J. Li and H. Chen. An online optimization for dynamic power management. Proceedings of the IEEE International Conference on Industrial Technology. 2016,pp.1533-1538.
21. H. Chen*, and D. Sun. Swarm-Inspired Transportation of Biological Cells Using Saturation-Controlled Optical Tweezers. IEEE Conf. on Robotics and Automation(ICRA), pp. 3531-3536, Seattle, 2015.(EI)
20. S. Liu, C. Wang, G. Liang, H. Chen. Formation control strategy for a group of quadrotors, IEEE International Conference on Information and Automation,2015,pp.2504-2511.
19. C. Lyu, Y.H. Liu, B. Li, H. Chen, Multi-feature based high-speed ball shape target tracking, IEEE Conference on Information and Automation, pp.67-72, Lijiang, Aug. 8-10, 2015.
18. X.S. Yang, Y.J. Lou, Z.X. Li, H. Chen. Survey of Robotic Manipulator Workspace, 33rd Chinese Control Conference, Nanjing China, 2014:8530-8535.
17. Y.J. Li, H.J. Wang, H. Chen. A unified approach for semi-Markov decision processes with discounted and average reward criteria, 11th World Congress on Intelligent Control and Automation (WCICA), 2014,pp.1741-1744
16. H. Chen*, J. Zhong, Y. Fu, and Y. Lou. Pose-graph based 3D map fusion with distributed robot system. IEEE Conf. on Robotics and Biomimetics，pp. 1608-1613, Bali, Dec. 5-10, 2014.(EI)
15. Y. Yang, H. Chen*, Y. Lou, W. Lin. Remote master-slave control of a 6D manipulator for cardiac surgery application. IEEE Conf. on Robotics and Biomimetics, pp. 1799-1804, Bali, Dec. 5-10, 2014.(EI)
14. H. Chen*, and D. Sun. Kinodynamic planning and tracking control of biological cell formation with optical tweezers. IEEE Conf. on Nanotechnology (NANO), Aug. 5-8, pp. 199-203, Beijing, 2013. (EI)
13. J. Liu, H. Chen*, and B. Zhang. Square root unscented Kalman filter based ceiling vision SLAM. IEEE Conf. on Robotics and Biomimetics, pp. 1635-1640, Shenzhen, Dec. 12-14, 2013.(EI)
12. B. Zhang, J. Liu, and H. Chen*. AMCL based map fusion for multi-robot SLAM with heterogeneous sensors. IEEE Conf. on Information and Automation, pp. 820-825, Yinchuan, Aug. 26-28, 2013. (EI)
11. H. Liang, C. Wang, H. Chen, and X. Wu. A synchronous approach to trajectory tracking in multirobot formation control with time delays. IEEE Conf. on Information and Automation (ICIA), pp. 669-674, Yinchuan, Aug. 26-28, 2013.(EI)
10. H. Chen*, Can Wang, and D. Sun, “Dynamics Calibration of Optically Trapped Cells with Adaptive Control Technology,” IEEE Int. Conf. On Robotics and Automation, pp.2801-2806, Karlsruhe, May 6-10, 2013.(EI)
9. H. Chen*, and D. Sun, “Automatic Flocking Manipulation of Micro Particles with robot-tweezers technologies,” IEEE Int. Conf. On Robotics and Automation, , pp.4588-4593, Minnesota, May 14-18, 2012.(EI)
8. H. Chen*, and D. Sun, “Pairing and Moving Swarm of Micro Particles into Array with a Robot-tweezer Manipulation System,” IEEE/RSJ Conf. Intelligent Robots and Systems, pp. 451-456, San Francisco, Sept. 25-30, 2011.(EI)
7. H. Chen*, J. Chen, and D. Sun, “A Novel Allocation-based Formation Algorithm for Swarm of Micro-Scaled Particles,” IEEE Int. Conf. On Robotics and Automation, pp. 1664-1669, Shanghai, May 9-13, 2011. (EI)
6. H. Chen*, J, Chen，Y.H.Wu, and D. Sun, . “Flocking of Micro-Scale Particles with Robotics and Optical Tweezers Technologies,” IEEE/RSJ Conf. Intelligent Robots and Systems, pp. 6155-6160, Taiwan, Oct. 18-22, 2010. (EI)
5. J.Chen，X, Yan, H. Chen, and D. Sun. “Resource Constrained Multirobot Task Allocation with A Leader-Follower Coalition Method,” IEEE Conf. Intelligent Robots and Systems(IROS), Taiwan, 2010. (EI)
4. Y.H. Wu, H. Chen, D. Sun, and W.H. Huang, “Force Characterization of Live Cells in Automated Transportation with Robot-Tweezers Manipulation System,” ICMA, Xi’an, 2010. (EI)
3. H. Chen*, D. Sun, J. Yang, “Global localization of multi-robot formations using ceiling vision SLAM strategy,” 14th Int. Conf. on Mechatronics and Machine Vision in Practice (M2VIP), Xiamen, pp.146-151，December 2007；(EI)
2. H. Chen*, D. Sun, J. Yang, W. Shang, “Orientation Correction Based Monocular SLAM for a Mobile Robot,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Xi’an, pp.1378-1386，July, 2008；(EI)
1. H. Chen*, D. Sun, J. Yang, “A SLAM Based Localization Solution for Indoor Multi-robot Formations,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Singapore, pp.1218-1233，July, 2009；(EI)
2007- 国际期刊及会议评审:
1. IEEE Transactions on Robotics
2. IEEE/ASME Transactions on Mechatronics
3. IEEE Transactions on Industrial Electronics
4. Automatica
5. IEEE Transactions on Control Systems Technology
6. IEEE Transactions on Cybernetics
7. IEEE Transactions on Biomedical Engineering
8. Mechatronics
9. ICRA， IROS
2011 IEEE Conf. Intelligent Robots and Systems(IROS)，Section Co-Chair
2013 IEEE International Conference of Nanotechnology， Exhibition Chair
2011/08- 国家自然科学基金评审
2012/01- 浙江自然科学基金评审
2015- 香港RGC项目评审
2016 IEEE International Conference on Real-time Computing and Robotics，Co-Chair
2017 International Conference on Computer Vision Systems，Program Chair
2019 IEEE Conf. Intelligent Robots and Systems(IROS)，Committee member，工业论坛主席