董伟-上海交通大学机械与动力工程学院

教师名录

董伟副教授

所在系所机器人研究所
办公电话
通讯地址上海市东川路800号机械学院A928
电子邮件dr.dongwei@sjtu.edu.cn
个人主页https://scholar.google.com/citations?user=hbaEVRMAAAAJ&hl=en

教育背景

❅ 2009.09-2015.08 上海交通大学，机械电子工程硕博连读，获博士学位
❅ 2005.09-2009.07 上海交通大学，机械电子工程(密西根联办试点班)，获工学学士学位

☎ 研究生申请基本要求： 踏实努力；愿意参加本实验室本科生研究计划。对多无人系统或自主机器人有强烈兴趣；良好的数理基础，动手能力强，务实且具有团队合作意识.
☎ 本科生研究计划: 根据个人爱好，可选择参与一项理论分析或仿真开发类的工作。对目前无法进入实验室开展工作的外校本科学生，可通过线上组会定期交流。实验室研究生招生优先参考本研究计划中的表现情况。

➫ 研究方向简介－主动协同感知系统： 以无人飞行器/无人小车为载体，研究机器人学所涉及的协同智能与主动感知技术，包括：主动视觉感知, 分布式运动规划，基于强化学习的行为决策，以及高精度高灵敏运动追踪控制等。

部分研究工作视频

工作经历

❅ 2021.01　至今上海交通大学机械与动力工程学院（副教授）
❅ 2018.01-2020.12 上海交通大学机械与动力工程学院（助理教授）
❅ 2015.09-2017.12 上海交通大学机械与动力工程学院（博士后）

研究方向

❅ 多机器人协同智能与主动感知
♨ 以无人飞行器/无人小车为载体，研究机器人学所涉及的协同智能与主动感知技术，包括：主动视觉感知, 分布式运动规划，基于强化学习的行为决策，以及高精度高灵敏运动追踪控制等。

研究工作短视频

科研项目

❅ 2022.06-2025.05：基于主动视觉的多飞行机器人拓扑连通规划与协同控制：上海青年科技启明星计划（项目主持人）。
❅ 2020.01-2023.12：面向高效巡检飞行的地空协同观测与运动规划研究：国家自然科学基金项目（项目主持人）。
❅ 2017.01-2019.12：旋翼机器人仿生物灵巧型协作中的轨迹动态优化与抗扰追踪技术研究：国家自然科学基金项目（项目主持人）。
❅ 2020.12-2022.09：某多无人机协同控制研究项目（项目主持人）。
❅ 2019.03-2022.02：某柔性臂机器人智能控制研究项目（项目主持人）。
❅ 2017.05-2018.01：超低空障碍环境下的旋翼机器人敏捷协作飞行技术研究：中国博士后科学基金研究特别资助项目（项目主持人）。
❅ 2019.12-2022.12：新一代人工智能重大专项：地外探测无人系统自主感知与精准操控（主要参与人员，排2）

代表性论文专著

围绕无人系统低负荷协同感知与控制，在IEEE T-RO，IEEE RA-L，IEEE T-ASE，IEEE/ASME T-MECH等机器人与自动化主流期刊上共发表SCI期刊论文三十余篇(*为通讯作者)。代表性成果为宽场景适应的主动感知规划系统。

[1] G. Chen, W. Dong*, P. Peng, J. Alonso-Mora, X. Zhu*, "Continuous Occupancy Mapping in Dynamic Environments Using Particles.", IEEE Transactions on Robotics, IEEE Xplore Early Access, 2023.
[2] W. Hu, Z. Wang, P. Xu, W. Dong*, " Fast Flight of the flying robot with Fuzzy Decision and Multimodal Control Tackling Uncertainties." IEEE Transactions on Industrial Electronics, IEEE Xplore Early Access, 2023.
[3] S. Chen, Y. Li, W. Dong*, "High-Performance Relative Localization Based on Key-node Seeking Considering Aerial Drags Using Range and Odometry Measurements." IEEE Transactions on Industrial Electronics, IEEE Xplore Early Access, 2023.
[4] S. Liu, Z. Wang, X. Sheng, W. Dong, "Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper." IEEE Transactions on Automation Science and Engineering, IEEE Xplore Early Access, 2023.
[5] Y. Gao, W. Dong*, "An Integrated Hierarchical Approach for Real-time Mapping with Gaussian Mixture Model." IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 6891-6898, 2023.
[6] Y. Li, P. Zhang, Z. Mei, W. Dong*, "Efficiently Range-Coupled Position Estimation for an Aerial Swarm with the Confidence Evaluation of Onboard Sensing." IEEE/ASME Transactions on Mechatronics, vol. 28, no. 4, pp. 2178-2188, 2023.
[7] G. Chen, P. Peng, P. Zhang, W. Dong*, "Risk-aware Trajectory Sampling for Quadrotor Obstacle Avoidance in Dynamic Environments." IEEE Transactions on Industrial Electronics, vol. 70, no. 12, pp. 12606 - 12615, 2023.
[8] W. Dong*, Y. Li, X. Sheng, X. Zhu, "Trajectory Estimation of a Flying Robot with a Single Ranging Beacon and Derived Velocity Constraints." IEEE Transactions on Industrial Electronics, vol. 70, no. 5, pp. 5024 - 5033, 2023.
[9] G. Chen, S. Wu, M. Shi, W. Dong, et. al., "RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments." IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 808 - 815, 2023.
[10] Z. Lin, W. Dong*, S. Liu, X. Sheng, X. Zhu, "An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor." IEEE/ASME Transactions on Mechatronics, vol. 28, no. 1, pp. 116 - 127, 2023.
[11] W. Dong*, C. Gong, G. Chen, X. Sheng, X. Zhu, "Computationally Efficient Topological Mapping with Layered Spanning Trees." IEEE/ASME Transactions on Mechatronics, vol. 27, no. 5, pp. 4067 - 4077, 2022.
[12] Y. Xie, Y. Li, W. Dong*, "Behavior Prediction Based Trust Evaluation for Adaptive Consensus of Quadrotors." Drones, 6(12), 371, 2022.
[13] W. Dong*, Z. Ma, X. Sheng, X. Zhu, "Centimeter-level Aerial Assembly Achieved with Manipulating Condition Inference and Compliance." IEEE/ASME Transactions on Mechatronics, vol. 27, no. 3, pp. 1660-1671, 2022.
[14] P. Zhang, G. Chen, Y. Li, W. Dong*, "Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization." IEEE Robotics and Automation Letters, vol. 7, no. 3, pp.6359-6366, 2022.
[15] G. Chen, H. Yu, W. Dong*, X. Sheng, X. Zhu, et. al., "What Should Be the Input: Investigating the Environment Representations in Sim-to-real Transfer for Navigation Tasks." Robotics and Autonomous Systems, vol. 153, pp.104081. 2022.
[16] Z. Wang, S. Liu, G. Chen, W. Dong*, "Robust Visual Positioning of the UAV for the Under Bridge Inspection with a Ground Guided Vehicle." IEEE Transactions on Instrumentation & Measurement, vol. 71, pp. 5000610, 2021.
[17] G. Chen, W. Dong*, X. Sheng, X. Zhu, et. al., "An Active Sense and Avoid System for Flying Robots in Dynamic Environments." IEEE/ASME Transactions on Mechatronics, vol. 26, no.2, pp.668-678, 2021.
[18] G. Chen, D. Sun, W. Dong*, X. Sheng, X. Zhu, et. al., "Computationally Efficient Trajectory Planning for High-Speed Obstacle Avoidance of a Quadrotor With Active Sensing." IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3365-3372, 2021.
[19] Y.X. Chen, W. Dong, Ye Ding, "An Efficient Method for Collision-free and Jerk-constrained Tajectory Generation with Sparse Desired Way-points for a Flying Robot." Science China Technological Sciences, vol. 64, no. 8, pp. 1719-1731, 2021.
[20] X. Sheng, Z. Ma, N. Zhang, W. Dong, "Aerial Contact Manipulation with Soft End-Effector Compliance and Inverse Kinematic Compensation." Journal of Mechanisms and Robotics - Transactions of the ASME, vol. 13, no. 1, pp. 011023, 2021.
[21] W. Dong, S. Liu, Y. Ding, X. Sheng, X. Zhu, "An Artificially Weighted Spanning Tree Coverage Algorithm for Decentralized Flying Robots." IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp.1689-1698, 2020.
[22] S. Liu, W. Dong, Z. Ma, X Sheng, "Adaptive Aerial Grasping and Perching with Dual Elasticity Combined Suction Cup." IEEE Robotics and Automation Letters, vol. 5, no. 3, pp.4766-4773, 2020.
[23] W. Dong, Y Ding, L Yang, X Sheng, X Zhu, "An Efficient Approach for Stability Analysis and Parameter Tuning in Delayed Feedback Control of a Flying Robot Carrying a Suspended Load." Journal of Dynamic Systems, Measurement, and Control - Transactions of the ASME, vol. 14, no. 8, pp. 081015, 2019.
[24] W. Dong, Y Ding, J Huang, L Yang, X Zhu, "An Optimal Curvature Smoothing Method and the Associated Real-time Interpolation for the Trajectory Generation of Flying Robots." Robotics and Autonomous Systems, vol. 115, pp. 73-82, 2019.
[25] W. Dong, Y. Ding, J. Huang, X. Zhu, and H. Ding, “An Efficient Approach of Time-optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor.” Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol. 139, no. 6, pp. 061012, 2017.
[26] W. Dong, Y. Ding, X. Zhu, and H. Ding, “Differential Quadrature Method for Stability and Sensitivity Analysis of Neutral Delay Differential Systems.” Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol.139, no.4, pp. 044504, 2017.
[27] W. Dong, G.-Y. Gu, X.-Y. Zhu and H. Ding, “A High-performance Flight Control Approach for Quadrotors using a Modified Active Disturbance Rejection Technique.” Robotics and Autonomous Systems, vol. 83, pp. 177-187, 2016.
[28] W. Dong, Y. Ding, X. Zhu, and H. Ding, “Optimal Proportional-Integral-Derivative Control of Time-Delay Systems Using the Differential Quadrature Method.” Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, vol. 137, no. 10, pp. 101005, 2015.
[29] W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Development of a Quadrotor Test-Bed: Modeling, Parameter Identification, Controller Design, and Trajectory Generation.” International Journal of Advanced Robotic Systems, vol. 12, pp. 1-7, 2015.
[30] W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “Solving the Boundary Value Problem of an Under-Actuated Quadrotor with Subspace Stabilization Approach.” Journal of Intelligent & Robotic Systems, vol. 80, pp. 299-311, 2015.
[31] W. Dong, G.Y. Gu, X. Zhu, and H. Ding, “High-performance Trajectory Tracking Control of a Quadrotor with Disturbance Observer.” Sensors and Actuators A: Physical, vol. 211, pp. 67-77, 2014.

教学工作

❅ 本科生专业必修及方向课程：《系统模型、分析与控制》(全英文)、《多机器系统与控制》（交叉模块）；

❅ 研究生核心课程：《现代控制理论》（荣誉体系课程）;

❅ 目前所指导本科学生中较大比例进入了密西根大学、宾州州立大学等世界一流学府进一步深造。

❅ 结合科研成果，较大比例研究生获国奖、唐奖等荣誉；研究生毕业后进入华为、阿里巴巴、INTEL、腾讯、字节跳动、新松等海内外知名企业担任重要研发工作。

荣誉奖励