Zhehan Li | Zhejiang University

About Me

I received the B.Eng. degree in Mechatronics and Automation from Zhejiang University, Hangzhou, China, in 2022.

I am currently pursuing the M.S. degree in Control Science and Engineering in the Fast Lab (Fire Group) at Zhejiang University, Hangzhou, China, under the guidance of Yanjun Cao.

I am applying for a PhD. If you’re interested in discussing my work or potential collaborations, feel free to email me at zhehanli66@gmail.com

Research Interests

Multi-Robot Perception: multi-robot SLAM, relative state estimation, distributed algorithm, certifiable optimization, outlier rejection, consistent maps, continuous-time SLAM, active SLAM
Multi-Robot Collaboration: collaborative heterogeneous multi-robot system, exploration, decentralized decision-making, swarm intelligence.

News

[Sep. 2024] Our paper about collaborative navigation is presented at ICRA@40.
[Aug. 2024] Our paper about collaborative navigation is published at ICRA 2024.
[Jun. 2024] Our paper about collaborative navigation is published at RAL 2024.
[May. 2024] Our paper about collaborative navigation is accepted at RAL.
[May. 2024] Our paper about collaborative navigation is presented at ICRA 2024.
[May. 2024] Our paper about model predictive control is presented at ICRA 2024.
[Jan. 2024] Our paper about collaborative navigation is accepted at ICRA 2024.
[Jan. 2024] Our paper about collaborative navigation is submitted at RAL.
[Dec. 2023] Our paper about relative pose estimation is published at IROS 2023.
[Oct. 2023] Our paper about model predictive control is published at RAL 2023.
[Oct. 2023] Our paper about model predictive control is accepted at RAL.
[Oct. 2023] Our paper about relative pose estimation is presented at IROS 2023.
[Sep. 2023] Our paper about collaborative navigation is submitted at ICRA 2024.
[Jun. 2023] Our paper about model predictive control is submitted at RAL.
[Jun. 2023] Our paper about relative pose estimation is accepted at IROS 2023.
[Mar. 2023] Our paper about relative pose estimation is submitted at IROS 2023.

Publications

TRO

CREPES: A Multi-Robot Bearing-Distance-Inertial Cooperative RElative Pose/state Estimation System

Zhehan Li, Zheng Wang, Jiadong Lu, Zhiren Xun, Chao Xu, Fei Gao, and Yanjun Cao

IEEE Transactions on Robotics (TRO), 2025.

In Preparation

ICRA

ColAG: A Collaborative Air-Ground Framework for Perception-Limited UGVs' Navigation

Zhehan Li*, Rui Mao*, Nanhe Chen, Chao Xu, Fei Gao, and Yanjun Cao

IEEE International Conference on Robotics and Automation (ICRA), 2024.

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RAL

CT-RIO: Non-Uniform B-spline based Continuous-Time Relative Inertial Odometry

Jiadong Lu*, Zhehan Li*, Tao Han, Chao Xu, Fei Gao, and Yanjun Cao

IEEE Robotics and Automation Letters (RAL), 2025.

In Preparation

RAL

Cost-effective Swarm Navigation System via Close Cooperation

Nanhe Chen, Zhehan Li, Lun Quan, Xinwei Chen, Cao Xu, Fei Gao, and Yanjun Cao

IEEE Robotics and Automation Letters (RAL), 2024.

BibTex

RAL

CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control

Baozhe Zhang*, Xinwei Chen*, Zhehan Li, Giovanni Beltrame, Cao Xu, Fei Gao, and Yanjun Cao

IEEE Robotics and Automation Letters (RAL), 2023.

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IROS

CREPES: Cooperative RElative Pose Estimation System

Zhiren Xun*, Jian Huang*, Zhehan Li, Zhenjun Ying, Yingjian Wang, Cao Xu, Fei Gao, and Yanjun Cao

The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

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Services

Conference Reviewers

2024 IEEE International Conference on Robotics and Automation (ICRA)