Kaixiang Zhang

Kaixiang Zhang

Assistant Professor (fixed-term), Department of Mechanical Engineering

Publications

You can also find my articles on my Google Scholar profile .

Books

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Multi-View Geometry Based Visual Perception and Control of Robotic Systems
Jian Chen, Bingxi Jia, and Kaixiang Zhang
CRC Press , 2018

Journal Papers

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Learning-Based Data-Enabled Economic Predictive Control With Convex Optimization for Nonlinear Systems
Mingxue Yan, Xuewen Zhang, Kaixiang Zhang, Zhaojian Li, and Xunyuan Yin
Control Engineering Practice , 2026
[Paper]
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Velocity-Form Data-Enabled Predictive Control of Soft Robots under Unknown External Payloads
Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee, Yu Mei, Vaibhav Srivastava, Jun Sheng, Ziyou Song, and Zhaojian Li
IEEE Robotics and Automation Letters , 2026
[Paper]
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Model-free Vehicle Rollover Prevention: A Data-driven Predictive Control Approach
Mohammad R Hajidavalloo, Kaixiang Zhang, Vaibhav Srivastava, and Zhaojian Li
Journal of Dynamic Systems, Measurement and Control , 2026
[Paper]
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Data-Enabled Predictive Control for Flexible Spacecraft
Huanqing Wang, Kaixiang Zhang, Amin Vahidi-Moghaddam, Haowei An, Nan Li, Daning Huang, and Zhaojian Li
Journal of Dynamic Systems, Measurement and Control , 2026
[Paper]
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Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm
Amin Vahidi-Moghaddam, Keyi Zhu, Kaixiang Zhang, Ziyou Song, and Zhaojian Li
IEEE Transactions on Control Systems Technology , 2026
[Paper]
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Differentially-Private Distributed Model Predictive Control of Linear Discrete-Time Systems with Global Constraints
Kaixiang Zhang, Yongqiang Wang, Ziyou Song, and Zhaojian Li
IEEE Transactions on Automatic Control , 2026
[Paper]
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Detect, Segment, Cluster: Apple Localization for Robotic Harvesting in Complex Orchards
Siddhartha Bhattacharya, Chaaran Arunachalam, Kaixiang Zhang, Jiajia Li, Renfu Lu, and Zhaojian Li
Smart Agricultural Technology , 2025
[Paper]
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Advancement and Field Evaluation of a Dual-arm Apple Harvesting Robot
Keyi Zhu, Kyle Lammers, Kaixiang Zhang, Chaaran Arunachalam, Siddhartha Bhattacharya, Jiajia Li, Renfu Lu, and Zhaojian Li
Smart Agricultural Technology , 2025
[Paper]
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Online Reduced-Order Data-Enabled Predictive Control
Amin Vahidi-Moghaddam, Kaixiang Zhang, Xunyuan Yin, Vaibhav Srivastava, and Zhaojian Li
IEEE Transactions on Automation Science and Engineering , 2025
[Paper]
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Foundation Model-Based Apple Ripeness and Size Estimation for Selective Harvesting
Keyi Zhu, Jiajia Li, Kaixiang Zhang, Chaaran Arunachalam, Siddhartha Bhattacharya, Renfu Lu, and Zhaojian Li
Computers and Electronics in Agriculture , 2025
[Paper]
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Safe Data-Driven Predictive Control
Amin Vahidi-Moghaddam, Kaian Chen, Kaixiang Zhang, Zhaojian Li, Yan Wang, and Kai Wu
IEEE Transactions on Automation Science and Engineering , 2025
[Paper]
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Deep DeePC: Data-Enabled Predictive Control With Low or No Online Optimization Using Deep Learning
Xuewen Zhang, Kaixiang Zhang, Zhaojian Li, and Xunyuan Yin
AIChE Journal , 2025
[Paper]
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Privacy-Preserving Nonlinear Cloud-based Model Predictive Control via Affine Masking
Kaixiang Zhang, Zhaojian Li, Yongqiang Wang, and Nan Li
Automatica , 2025
[Paper]
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Development and Evaluation of a Dual-Arm Robotic Apple Harvesting System
Kyle Lammers, Kaixiang Zhang, Keyi Zhu, Pengyu Chu, Zhaojian Li, and Renfu Lu
Computers and Electronics in Agriculture , 2024
[Paper]
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Extended Neighboring Extremal Optimal Control with State and Preview Perturbations
Amin Vahidi-Moghaddam, Kaixiang Zhang, Zhaojian Li, Xunyuan Yin, Ziyou Song, and Yan Wang
IEEE Transactions on Automation Science and Engineering , 2024
[Paper]
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Communication-Efficient Decentralized Multi-Agent Reinforcement Learning for Cooperative Adaptive Cruise Control
Dong Chen, Kaixiang Zhang, Yongqiang Wang, Xunyuan Yin, Zhaojian Li, and Dimitar Filev
IEEE Transactions on Intelligent Vehicles , 2024
[Paper]
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An Automated Apple Harvesting Robot -- from System Design to Field Evaluation
Kaixiang Zhang, Kyle Lammers, Pengyu Chu, Zhaojian Li, and Renfu Lu
Journal of Field Robotics , 2024
[Paper]
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Mechanical Design and Data-Enabled Predictive Control of a Planar Soft Robot
Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee, Yu Mei, Keyi Zhu, Vaibhav Srivastava, Jun Sheng, and Zhaojian Li
IEEE Robotics and Automation Letters , 2024
[Paper]
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Physics-Augmented Data-EnablEd Predictive Control for Eco-Driving of Mixed Traffic Considering Diverse Human Behaviors
Dongjun Li, Kaixiang Zhang, Haoxuan Dong, Qun Wang, Zhaojian Li, and Ziyou Song
IEEE Transactions on Control Systems Technology , 2024
[Paper]
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Privacy-Preserving Data-Enabled Predictive Leading Cruise Control in Mixed Traffic
Kaixiang Zhang, Kaian Chen, Zhaojian Li, Jun Chen, and Yang Zheng
IEEE Transactions on Intelligent Transportation Systems , 2024
[Paper]
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High-Precision Fruit Localization Using Active Laser-Camera Scanning: Robust Laser Line Extraction for 2D-3D Transformation
Pengyu Chu, Zhaojian Li, Kaixiang Zhang, Kyle Lammers, and Renfu Lu
Smart Agricultural Technology , 2024
[Paper]
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Active Laser-Camera Scanning for High-Precision Fruit Localization in Robotic Harvesting: System Design and Calibration
Kaixiang Zhang, Pengyu Chu, Kyle Lammers, Zhaojian Li, and Renfu Lu
Horticulturae , 2024
[Paper]
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O2RNet: Occluder-Occludee Relational Network for Robust Apple Detection in Clustered Orchard Environments
Pengyu Chu, Zhaojian Li, Kaixiang Zhang, Dong Chen, Kyle Lammers, and Renfu Lu
Smart Agricultural Technology , 2023
[Paper]
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Dimension Reduction for Efficient Data-Enabled Predictive Control
Kaixiang Zhang, Yang Zheng, Chao Shang, and Zhaojian Li
IEEE Control Systems Letters , 2023
[Paper]
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Cloud-Assisted Nonlinear Model Predictive Control for Finite-Duration Tasks
Nan Li, Kaixiang Zhang, Zhaojian Li, Vaibhav Srivastava, and Xiang Yin
IEEE Transactions on Automatic Control , 2023
[Paper]
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Resource Provision for Cloud-Enabled Automotive Vehicles with a Hierarchical Model
Kaixiang Zhang, Zhaojian Li, Xiang Yin, and Liang Han
IEEE Transactions on Systems, Man, and Cybernetics: Systems , 2023
[Paper]
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Output Feedback Control With Performance Recovery Analysis for a Class of Time-Delay Nonlinear Systems
Xinfang Zhang, Jian Chen, Zhongle Wu, Lalitesh Kumar, and Kaixiang Zhang
Journal of the Franklin Institute , 2022
[Paper]
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Simultaneous Pose Estimation and Velocity Estimation of an Ego Vehicle and Moving Obstacles Using LiDAR Information Only
Qi Wang, Jian Chen, Jianqiang Deng, Xinfang Zhang, and Kaixiang Zhang
IEEE Transactions on Intelligent Transportation Systems , 2022
[Paper]
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Stochastic Model Predictive Control for Quasi-Linear Parameter Varying Systems: Case Study on Automotive Engine Control
Kaian Chen, Kaixiang Zhang, Zhaojian Li, Yan Wang, Kai Wu, Uroš V. Kalabić
Journal of Dynamic Systems, Measurement and Control , 2022
[Paper]
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Privacy-Preserving Dynamic Average Consensus via State Decomposition: Case Study on Multi-Robot Formation Control
Kaixiang Zhang, Zhaojian Li, Yongqiang Wang, Ali Louati, and Jian Chen
Automatica , 2022
[Paper]
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Design and Evaluation of End Effectors for a Vacuum-Based Robotic Apple Harvester
Renfu Lu, Nathan Dickinson, Kyle Lammers, Kaixiang Zhang, Pengyu Chu, and Zhaojian Li
Journal of the ASABE , 2022
[Paper]
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Visual Trajectory Tracking of Wheeled Mobile Robots With Uncalibrated Camera Extrinsic Parameters
Kaixiang Zhang, Jian Chen, Guoqing Yu, Xinfang Zhang, and Zhaojian Li
IEEE Transactions on Systems, Man, and Cybernetics: Systems , 2021
[Paper]
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System Design and Control of an Apple Harvesting Robot
Kaixiang Zhang, Kyle Lammers, Pengyu Chu, Zhaojian Li, and Renfu Lu
Mechatronics , 2021
[Paper]
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An Efficient Method to Recover Relative Pose for Vehicle-Mounted Cameras Under Planar Motion
Xinfang Zhang, Yanyan Gao, Jian Chen, and Kaixiang Zhang
IEEE Transactions on Systems, Man and Cybernetics: Systems , 2021
[Paper]
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Visual Tracking and Depth Estimation of Mobile Robots Without Desired Velocity Information
Kaixiang Zhang, Jian Chen, Yang Li, and Xinfang Zhang
IEEE Transactions on Cybernetics , 2020
[Paper]
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Trifocal Tensor-Based 6 DOF Visual Servoing
Kaixiang Zhang, François Chaumette, and Jian Chen
International Journal of Robotics Research , 2019
[Paper]
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Sequential Monocular Road Detection by Fusing Appearance and Geometric Information
Bingxi Jia, Jian Chen, Kaixiang Zhang, and Qi Wang
IEEE/ASME Transactions on Mechatronics , 2019
[Paper]
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Adaptive Tracking for MIMO Nonlinear Systems With Unknown Fast Time-Varying Parameters
Zhongle Wu, Jian Chen, Chengshuai Wu, and Kaixiang Zhang
International Journal of Robust and Nonlinear Control , 2018
[Paper]
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Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera
Kaixiang Zhang, Jian Chen, Yang Li, and Yanyan Gao
IEEE/ASME Transactions on Mechatronics , 2018
[Paper]
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Identification of a Moving Object's Velocity and Range With a Static-Moving Camera System
Jian Chen, Kaixiang Zhang, Bingxi Jia, and Yanyan Gao
IEEE Transactions on Automatic Control , 2018
[Paper]
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Control of Regenerative Braking Systems for Four-Wheel-Independently-Actuated Electric Vehicles
Jian Chen, Jiangze Yu, Kaixiang Zhang, and Ya Ma
Mechatronics , 2018
[Paper]
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Asymptotic Moving Object Tracking With Trajectory Tracking Extension: A Homography-Based Approach
Kaixiang Zhang, Jian Chen, and Bingxi Jia
International Journal of Robust and Nonlinear Control , 2017
[Paper]
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Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots
Jian Chen, Bingxi Jia, and Kaixiang Zhang
IEEE Transactions on Cybernetics , 2017
[Paper]
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Recursive Drivable Road Detection With Shadows Based on Two-Camera Systems
Bingxi Jia, Jian Chen, and Kaixiang Zhang
Machine Vision and Applications , 2017
[Paper]
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Drivable Road Reconstruction for Intelligent Vehicles Based on Two-View Geometry
Bingxi Jia, Jian Chen, and Kaixiang Zhang
IEEE Transactions on Industrial Electronics , 2017
[Paper]
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Survey on Robot Visual Servo Control: Vision System and Control Strategies
Bingxi Jia, Shan Liu, Kaixiang Zhang, and Jian Chen
Acta Automatica Sinica , 2015

Conference Papers

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Privacy-Aware Data-Driven Predictive Control for Mixed Traffic Via Masking Techniques
Kaixiang Zhang, Yang Zheng, and Zhaojian Li
Proceedings of the IEEE Conference on Control Technology and Applications , 2025
[Paper]
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Robust 3D Apple Localization in Robotic Harvesting Using Deep Learning and Spatial Clustering
Siddhartha S Bhattacharya, Chaaran Arunachalam, Kaixiang Zhang, Jiajia Li, Renfu Lu, and Zhaojian Li
Proceedings of the ASABE Annual International Meeting , 2025
[Paper]
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Data-Enabled Neighboring Extremal Optimal Control: A Computationally Efficient DeePC
Amin Vahidi-Moghaddam, Kaixiang Zhang, Zhaojian Li, and Yan Wang
Proceedings of the IEEE Conference on Decision and Control , 2023
[Paper]
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ABatRe-Sim: A Comprehensive Framework for Automated Battery Recycling Simulation
Huanqing Wang, Kaixiang Zhang, Keyi Zhu, Ziyou Song, and Zhaojian Li
Proceedings of the IEEE International Conference on Robotics and Biomimetics , 2023
[Paper]
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Event-Triggered Cloud-based Nonlinear Model Predictive Control with Neighboring Extremal Adaptations
Amin Vahidi-Moghaddam, Zhaojian Li, Nan Li, Kaixiang Zhang, and Yan Wang
Proceedings of the IEEE Conference on Decision and Control , 2022
[Paper]
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Privacy-Preserved Data-Enabled Predictive Control for Connected and Automated Vehicles in Mixed Traffic
Kaixiang Zhang, Kaian Chen, Zhaojian Li, and Yang Zheng
Proceedings of the IEEE International Conference on Intelligent Transportation Systems , 2022
[Paper]
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Algorithm Design and Integration for a Robotic Apple Harvesting System
Kaixiang Zhang, Kyle Lammers, Pengyu Chu, Nathan Dickinson, Zhaojian Li, and Renfu Lu
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems , 2022
[Paper]
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Camera External Self-Calibration for Intelligent Vehicles
Guoqing Yu, Jian Chen, Kaixiang Zhang, and Xinfang Zhang
Proceedings of the IEEE International Symposium on Industrial Electronics , 2019
[Paper]
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Visual Servoing With Trifocal Tensor
Kaixiang Zhang, Jian Chen, and François Chaumette
Proceedings of the IEEE Conference on Decision and Control , 2018
[Paper]
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Homography-Based Visual Servo Tracking Without Derivative Measurement of Desired Trajectory
Kaixiang Zhang, Jian Chen, and Xinfang Zhang
Proceedings of the IEEE Conference on Decision and Control , 2018
[Paper]
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A 2-Point Pose Estimation Algorithm for Monocular Visual Odometry of Ground Vehicles
Yanyan Gao, Jian Chen, Kaixiang Zhang, and Bingxi Jia
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems , 2017
[Paper]
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Unified Tracking and Regulation Visual Serving of Wheeled Mobile Robots With Euclidean Reconstruction
Kaixiang Zhang, Jian Chen, Bingxi Jia, and Yang Li
Proceedings of the American Control Conference , 2017
[Paper]
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Velocity and Range Identification of a Moving Object Using a Static-Moving Camera System
Kaixiang Zhang, Jian Chen, Bingxi Jia, and Yanyan Gao
Proceedings of the IEEE Conference on Decision and Control , 2016
[Paper]
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A Constructive Stabilization Method via System Immersion for Multi-Input Non-Affine Nonlinear Systems
Chengshuai Wu, Jian Chen, Zhongle Wu, Lisong Qu, and Kaixiang Zhang
Proceedings of the IEEE Conference on Decision and Control , 2016
[Paper]
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Adaptive Visual Trajectory Tracking of Nonholonomic Mobile Robots Based on Trifocal Tensor
Bingxi Jia, Jian Chen, and Kaixiang Zhang
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
[Paper]

Preprints

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Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Kaixiang Zhang, Zhaojian Li, Xiaobo Tan, and Dong Chen
arXiv preprint arXiv:2606.26048 , 2026
[Paper]
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A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
Keyi Zhu, Kyle Lammers, Chaaran Arunachalam, Kaixiang Zhang, Renfu Lu, and Zhaojian Li
arXiv preprint arXiv:2606.14089 , 2026
[Paper]
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Distributed Platoon Control Under Quantization: Stability Analysis and Privacy Preservation
Kaixiang Zhang, Zhaojian Li, and Wei Lin
arXiv preprint arXiv:2510.05959 , 2025
[Paper]
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Direct Data-Driven Predictive Control for a Three-dimensional Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Dong Chen, Kaixiang Zhang, Zhaojian Li, and Xiaobo Tan
arXiv preprint arXiv:2510.08953 , 2025
[Paper]
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Data-Enabled Predictive Control for Fast Charging of Lithium-Ion Batteries with Constraint Handling
Kaixiang Zhang, Kaian Chen, Xinfan Lin, Yusheng Zheng, Xunyun Yin, Xiaosong Hu, Ziyou Song, and Zhaojian Li
arXiv preprint arXiv:2209.12862 , 2022
[Paper]