所属研究所、院系:
人工智能与无人系统研究所

职称:
教授

E-mail:
chengh9@mail.sysu.edu.cn




教师简介:
成慧，教授，博士生导师，中山大学“****”人才引进，主要从事自主机器人、多机器人协同、机器人视觉、网络化控制系统方面的研究。研究成果发表在IEEE/ASME Trans. on Mechatronics、IEEE Trans. on Cybernetics、IEEE Robotics and Automation Letters、IEEE Trans. on Circuits & Systems等期刊以及ICRA、IROS、ICCV、CoRL、ACM MM等重要国际会议论文中。主持和参与国家自然科学基金、国家基金委-深圳市机器人基础研究中心项目、广东省重大科技专项、广东省自然科学基金研究团队项目、广东省自然科学基金、中央高校基本科研业务费重点项目、广州市科技计划科学研究专项、香港研资局科研基金项目等项目。中山大学空中机器人队与中山大学Robomaster机器人队指导老师。
欢迎有志于从事机器人和人工智能方向研究，专业方向为计算机、自动化、电子、通工、数学、物理、机械等专业领域的同学和科研人员加入机器人实验室

研究领域:
自主机器人、多机器人协同、机器人视觉、网络化控制系统

教育背景:
2001年9月-2005年12月，香港大学，信息处理，博士
1999年9月-2001年7月，香港科技大学，机器人，硕士
1998年9月-1999年8月，燕山大学，电气自动化，硕士学习
1994年9月-1998年7月，燕山大学，电气自动化，学士

工作经历:
2019年1月至今，中山大学，数据科学与计算机学院，教授，博导
2011年7月至2019年1月，中山大学，数据科学与计算机学院，副教授，博导（2017年起）
2008年1月-2011年6月，中山大学，信息科学与技术学院，讲师（中山大学“****”引进）
2006年8月-2007年12月，香港中文大学信息工程系，博士后

海外经历:
2011年7月-2011年9月，香港中文大学信息工程系，Research Associate，合作导师：Prof. Wing Shing Wong
2014年7月-2014年9月，香港中文大学信息工程系，Research Associate，合作导师：Prof. Wing Shing Wong

科研项目:
1）智能学习与视觉感知计算，广东省自然科学基金研究团队项目，2017/05-2022/05，在研，团队核心成员
2）集群无人机分布式自主协同作业关键技术研究与应用，广东省重大科技专项项目，2017/01-2019/12，在研，主持
3）集群无人系统的自主协同感知与控制关键技术研究，中山大学大科研项目培育专项，2017/05-2017/12，结题，主持
4） 面向服务机器人的情感认知、表达及管理关键技术，国家基金委-深圳市机器人基础研究中心项目，2017/01-2020/12，在研，中山大学方负责人
5）地空异构多机器人系统的编队控制研究与实现，广东省自然科学基金，2016/01-2018/12，结题，主持
6）家庭陪护智能移动机器人关键技术研究与系统开发，中央高校基本科研业务费中山大学重大项目培育项目，2015/09-2017/12，结题，主持
7）基于光流的无人机载自主导航软件模块开发，零度智控（北京）智能科技有限公司，2015/08-2016/12，结题，主持
8）基于单目视觉的旋翼无人机自主抓取的关键技术研究，广州市科技计划科学研究专项，2015/07-2017/06，结题，主持
9）Control of Adaptive Formations, RGC General Research Fund (GRF) of Hong Kong, 2015/01-2016/12，结题， Co-Principle Investigator
10）多自主驾驶车辆协同理论与技术研究，深圳市知识创新计划基础研究项目，2014/01-2016/04，结题，项目第二负责人
11）Time Critical Applications over a Shared Network, SHIAE Project of the Chinese University of Hong Kong, 2011/07-2013/06，结题，Co-investigator
12）信道带宽限制下网络控制系统的优化控制及性能分析，国家自然科学基金2009/01-2011/12，结题，主持

教授课程:
研究生课程：检测与估计原理、无人驾驶
本科生课程：机器人导论、自动控制原理、数字信号处理、电力电子技术、智能技术与系统综合实践

代表性论著:
2021年
Rui Yang, Lei Zheng, Jiesen Pan, and Hui Cheng*, “Learning-based Predictive Path Following Control for Nonlinear Systems Under Uncertain Disturbances,” IEEE Robotics and Automation Letters (Presentation at ICRA), 2021
Zizhen Ouyang, Ruidong Mei, Zisen Liu, Mingxin Wei, Zida Zhou, and Hui Cheng*, “Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm,” IEEE Int. Conf. on Robotics and Automation (ICRA), May 2021
Lei Zheng, Rui Yang, Jiesen Pan, and Hui Cheng*, “Safe Learning-Based Tracking Control for Quadrotors under Wind Disturbances,” American Control Conference (ACC), May 2021
2020年
Jinhao He, Yuming Zhou, Lixiang Huang, Yang Kong, Hui Cheng*, “Ground and Aerial Collaborative Mapping in Urban Environments,”IEEE Robotics and Automation Letters, 2020
Kai Yang, Zhanpeng Zhang, Hui Cheng*, Huadong Wu and Ziying Guo, “Domain centralization and cross-modal reinforcement learning for vision-based robotic manipulation,” Int. Journal Precise Agriculture Aviation, June 2020 (Best Paper Award)
Lei Zheng, Rui Yang, Jiesen Pan, Hui Cheng*, Haifeng Hu, "Learning-Based Safety-Stability-Driven Control for Safety-Critical Systems Under Model Uncertainties," Int. Conf.?on Wireless Communications and Signal Processing (WCSP),?pp. 1112-1118, Oct. 2020, Nanjing, China.
Shuiqing Zhang, Tianye Xu, Hui Cheng*, Fan Liang, “Collision Avoidance of Fixed-Wing UAVs in Dynamic Environments Based on Spline-RRT and Velocity Obstacle,” Int. Conf. on Unmanned Aircraft Systems (ICUAS), pp. 48-58, Sept. 2020, Athens, Greece.
Junhao Cai, Xuefeng Tao, Hui Cheng*, Zhanpeng Zhang, “CCAN: Constraint Co-Attention Network for Instance Grasping,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), May 31-June 4, 2020, Paris, France.
Huadong Wu, Zhanpeng Zhang, Hui Cheng*, Kai Yang, Jiaming Liu, Ziying Guo, “Learning Affordance Space in Physical World for Vision-Based Robotic Object Manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), May 31-June 4, 2020, Paris, France.
Yinzhao Dong, Chao Yu, Paul Wen, Ahmed Maustafa, Hui Cheng, Hongwei Ge, “Decomposed Deep Reinforcement Learning for Robotic Control,” Proc. of Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), May 9-13, 2020, Auckland, New Zealand.
2019年
Juntong Lin, Xuyun Yang, Peiwei Zheng, Hui Cheng*, “Connectivity Guaranteed Multi-robot Navigation via Deep Reinforcement Learning,” Proc. of Conf. on Robot Learning (CoRL), Oct. 30-Nov. 1, 2019, Osaka, Japan.
Chuangrong?Chen, ?Xiaozhi Chen, Hui Cheng*, “On the Over-Smoothing Problem of CNN Based Disparity Estimation,” Proc. of Int. Conf. on Computer Vision (ICCV), Oct. 27-Nov.2, 2019, Seoul, Korea.
Z. K. Dong, S. C. Liu, T. Zhou, H. Cheng, L. Zeng, X. Y. Yu, H. D. Liu,” PPRNet: Point-wise Pose Regression Network for Instance Segmentation and 6D Pose Estimation in Bin-picking Scenarios,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nov. 4-8, 2019, Macau, China.
Lishan Lin, Yuji Yang, Hui Cheng* and Xuechen Chen, “Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles,” Sensors, vol. 19, no. 15, pp. 1-17, August 2019. ? https://doi.org/10.3390/s**
Juntong Lin, Xuyun Yang, Peiwei Zheng, Hui Cheng*, "End-to-end Decentralized Multi-robot Navigation in Unknown Complex Environments via Deep Reinforcement Learning", Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA), Aug. 4-7, 2019, Tianjin, China.
Junhao Cai, Zhanpeng Zhang, Hui Cheng*, “Grasping Novel Objects by Semi-supervised Domain Adaptation”, Proc. of IEEE Int. Conf. on Real-time Computing and Robotics (RCRA), August 2019, Irkutsk, Russia.
Zhipng Xie, Youlian Long, Hui Cheng*, “Distributed Adaptive Formation Control of a Team of Aerial Robots in Cluttered Environments”, International Conference on Intelligent Robotics and Applications (ICIRA), pp. 544-558, Aug 8-11, 2019, Shenyang, China.
Junhao Cai, Hui Cheng*, Zhangpeng Zhang, Jingcheng Su, “MetaGrasp: Data Efficient Grasping by Affordance Interpreter Network”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4960-4966,?May 20-24, 2019, Montreal, Canada.
Junxun Zhong, Hui Cheng*, Liu He, Fang Ouyang, “Decentralized Full Coverage of Unknown Areas by Multiple Robots with Limited Visibility Sensing”, IEEE Robotics and Automation Letters (Presentation at ICRA), vol. 4, no. 2, pp. 338-345, April 2019.
Zhongchang Liu, Zhihui Li, Ge Guo, Hui Cheng, “Cooperative Platoon Control of Heterogeneous Vehicles under a Novel Event-triggered Communication Strategy”, IEEE Access, vol. 7, pp. 41172 – 41182, 2019.
Fan Ouyang, Hui Cheng, Yubin Lan, Yali Zhang, Xuanchun Yin, Jie Hu, Xiaodong Peng, Guobin Wang, Shengde Chen, “Automatic delivery and recovery system of Wireless Sensor Networks (WSN) nodes based on UAV for agricultural applications”, Computers and Electronics in Agriculture, vol. 162, pp. 31-43, 2019.
Chongyu Chen, Haoguang Huang, Chuangrong Chen, Zhuoqi Zheng, Hui Cheng*, “Multi-Scale Guided Mask Refinement for Coarse-to-Fine RGB-D Perception”, IEEE Signal Processing Letters, pp. vol. 26, no. 2, pp. 217-221, Feb. 2019.
2018年
Dongyu Zhang, Wenxi Wu, Hui Cheng*, Ruimao Zhang, Zhenjiang Dong, Zhaoquan Cai, “Image-to-Video Person Re-Identification with Temporally Memorized Similarity Learning”, IEEE Transactions on Circuits and Systems for Video Technology, vol. 28, no. 10, pp. 2622–2632, Oct. 2018.
Y. X. Li, J. H. Sun, X. Q. Li, Z. P. Zhang, H. Cheng, X. G. Wang, “Weakly Supervised 6D Pose Estimation for Robotic Grasping”, Proc. of ACM SIGGRAPH Int. Conf. on Virtual-Reality Continuum and its Applications in Industry (VRCAI), Dec. 2-3, 2018, Hachioji, Japan.
H. Cheng, Z.Q. Zheng, J.H. He, C.Y. Chen, K.Z. Wang, L. Lin, “Embedding Temporally Consistent Depth Recovery for Real-time Dense Mapping in Visual-inertial Odometry”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 693-698, Oct. 1-5, 2018, Madrid, Spain.
Ziliang Lai, Rui Yang, Hui Cheng*, Wenjun Deng, Kan Wu, and Jianjin Xiao, “Dance of the Dragonfly: A Vision-based Agile Aerial Touch Solution for IARC Mission 7”, Proc. of IEEE Int. Conf. on Real-time Computing and Robotics (RCRA), August 2018, Kandima, Maldives. (Finalist of Best Paper Award)
Zhongchang Liu, Zeyu Jiang, Tianye Xu, Hui Cheng*, Zhipeng Xie, and Liang Lin, “Avoidance of High-speed Obstacles Based on Velocity Obstacles”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 7624-7630, May 21-25, 2018, Brisbane, Australia.
Hui Cheng, Junhao Cai, Quande Liu, Zhanpeng Zhang, Kai Yang, Chen Change Loy, Liang Lin, “Fusing Object Context to Detect Functional Area for Cognitive Robots”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 6132-6139, May 21-25, 2018, Brisbane, Australia.
Hui Cheng, YongHeng Hu, Chongyu Chen, Liang Lin, “'Robust Object-aware Sample Consensus with Application to LiDAR Odometry,” Prof. of IEEE Int. Conf. on Acoustics, Speech and Signal Processing (ICASSP), April 15-20, 2018, Calgary, Alberta, Canada.
2017年之前
- Z.C. Liu, W. S. Wong, and H. Cheng, “Cluster synchronization for coupled systems with nonidentical linear dynamics”, International Journal of Robust and Nonlinear Control, vol. 27, pp. 1462-1479, June 2017.
- H. Cheng, Q.Y. Zhu, Z.C. Liu, T.Y. Xu, and L. Lin, “Decentralized navigation of multiple agents based on ORCA and Model Predictive Control”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3446-3451, Sep. 24-28, 2017, Vancouver, BC, Canada.
- H. Cheng, L.S. Lin, Z.Q. Zheng, Y.W. Guan, and Z.C. Liu, “An Autonomous Vision-Based Target Tracking System for Rotorcraft Unmanned Aerial Vehicles”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1732-1738, Sep. 24-28, 2017, Vancouver, BC, Canada.
- Mude Lin, Liang Lin, Xiaodan Liang, Keze Wang, Hui Cheng, “Recurrent 3D Pose Sequence Machines”, Proc. of Computer Vision and Pattern Recognition (CVPR) (Oral Presentation), pp. 5543-5552, July 21-26, 2017, Honolulu, Hawaii, USA.
- Hui Cheng, Yongheng Hu, Haoguang Huang, Chuangrong Chen, and Chongyu Chen, “Reconstructing Dynamic Objects via LiDAR Odometry Oriented to Depth Fusion”, Proc. of Int. Conf. Intelligent Robotics and Applications, pp. 634-646, August 15-18, 2017, Wuhan, China.
- Liang Lin, Lili Huang, Tianshui Chen, Yukang Gan, Hui Cheng, “Knowledge-Guided Recurrent Neural Network Learning for Task-Oriented Action Prediction”，Proc. of IEEE Int. Conf. on Multimedia and Expo (ICME), pp. 625-630, July 10-14, 2017, Hong Kong. (World’s FIRST 10K Best Paper Award)
- Keze Wang, Shengfu Zhai, Cheng Hui*, Xiaodan Liang, and Liang Lin, "Human Pose Estimation from Depth Images via Inference Embedded Multi-task Learning",?Proc. of ACM International Conference on Multimedia (ACM MM), (full paper, Oral Presentation), pp. 1227-1236, Oct. 2016, Amsterdam, the Netherlands.
- Chenglong Li, Hui Cheng, Shiyi Hu, Xiaobai Liu, Jin Tang, and Liang Lin, “Learning Collaborative Sparse Representation for Grayscale-Thermal Tracking”, IEEE Trans. on Image Processing, vol. 25, no. 12, pp. 5743-5756, Dec. 2016.
- L. Lin, Y. Y. Lu, C. L. Li, H. Cheng, and W. M. Zuo, “Detection-free Multi-object Tracking by Reconfigurable Inference with Bundle Representations”, IEEE Transactions on Cybernetics, vol. 46, no. 11, pp. 2447?– 2458, Nov. 2016.
- Zhen Li, Yukang Gan, Xiaodan Liang, Yizhou Yu, Hui Cheng, and Liang Lin, "LSTM-CF: Unifying Context Modeling and Fusion with LSTMs for RGB-D Scene Labeling",?Proc. of European Conference on Computer Vision (ECCV), pp. 541-557, Oct. 2016, Amsterdam, the Netherlands.
- Jiang Zeyu, Cheng Hui*, Zheng Zefeng, Zhang Xiaowu, Nie Xinyao, Li Weibin, Zou Yuxiang, and Wong Wing Shing, “Autonomous Formation Flight of UAVs: Control Algorithms and Field Experiments”, in Proc. 35th Chinese Control Conference, pp.7585-7591, Chengdu, China, July 2016.
- Z.C. Liu, W. S. Wong, and H. Cheng, “Cluster synchronization of coupled linear systems under directed nonnegative graphs,” in Proceedings of 35th Chinese Control Conference, pp. 8259-8263, Chengdu, China, July 2016.
- Wei Zhou, Hui Cheng*, Qiyuan Zhu, and Zeyu Jiang, “Formation Control of Multiple Robots Based on Linearization Scheme”, in Proc. Chinese Control and Decision Conference, pp. 296-301, Yinchuan, China, May 2016.
- H. Cheng, Y. S. Chen, and W. S. Wong, “Trajectory Tracking and Formation Flight of Autonomous UAVs in GPS-Denied Environments Using Onboard Sensing,” in Proc. IEEE Chinese Guidance, Navigation and Control Conference, August 2014, pp. 2639-2645, Yantai, China. (Best Paper Finalist of the IEEE CGNCC 2014)
- H. Cheng and W. S. Wong, “Application of Protocol Sequences in Wireless Networked Control Systems,” in Proc. 33^rd Chinese Control Conference, July 2014, pp. 5666-5671, Nanjing, China.
- H. Cheng, Y. S. Chen, X. K. Li and W. S. Wong, “Autonomous Hovering, Tracking and Landing of a UAV on a Moving UGV using Onboard Monocular Vision,” in Proc. 32^nd Chinese Control Conference, pp. 5895-5901, July 2013, Xian, China.
- H. Cheng, Y. Chen, W. S. Wong, Q. Yang and L. F. Shen, “Protocol Sequence Based Wireless Media Access Control in Networked Control Systems,” in Proc. 12th ?Int. Conf. on Automation, Control, Robotics and Vision, pp. 707-712, Dec., 2012, Guangzhou, China.
- H. Cheng, Y. S. Chen, W. S. Wong, Q. Yang, L. F. Shen and J. Baillieul, “Stabilizing and Tracking Control of Multiple Pendulum-Cart Systems over a Shared Wireless Network,” in Proc. 31st Chinese Control Conf., pp. 5849-5854, July 2012, Hefei, China.
- Y. G. Liu, H. L. Gao,?B. G. Xu, G. Y. Liu?and?H. Cheng, “Autonomous Coordinated Control of A Platoon of Vehicles with Multiple Disturbances”, Control Theory & Applications, IET, pp. 2325 – 2335, vol. 8, Dec. 2014.
- W. S. Wong and H. Cheng*, “Control and Dynamics of Linear Systems under Finite Quantized Feedback,” International Journal of Systems, Control and Communications, pp. 436-455, vol. 3. no.4, Nov. 2011.
- H. Cheng, S. C. Chan and Z. G. Zhang, “Robust Channel Estimation and Multiuser Detection for MC-CDMA Systems under Narrowband Interference,” The Journal of Signal Processing Systems, Springer, vol. 52, pp. 165-180, Aug. 2008.
- H. Cheng and S. C. Chan, “Blind Linear MMSE Receivers for MC-CDMA Systems,” IEEE Transactions on Circuits and Systems Part I, vol. 54, no. 2, pp. 367-376, Feb. 2007.
- H. Cheng, Y.K. Yiu and Z.X. Li, “Dynamics and Control of Redundantly Actuated Parallel Manipulators,” IEEE/ASME Transactions on Mechatronics, vol. 8, no. 4, pp. 483-491, Dec. 2003.
?授权知识产权
许天野，成慧，黄以华，一种机器人在复杂场景中规避动态障碍物的方法，发明专利，授权，2021年4月，7.7
成慧，杜径舟，吴华栋，一种基于深度图像的人物轮廓快速检测与跟踪方法，发明专利，授权，2021年3月，1.7
胡永恒，成慧，何晋豪，孔阳，一种通信带宽与距离受限情况下的多无人平台同步定位与地图构建方法，发明专利，授权，2021年3月，0.1
杨煜基，欧阳子臻，成慧，陈雪晨，一种可装备于中小型移动平台的多自由度机械臂，实用新型专利，授权， 2021年2月，7.1
成慧，郑卓祺，何晋豪，陈崇雨，一种用于三维重建的快速深度恢复方法，发明专利，授权，2020年11月，4.0
谢志鹏，成慧，龙有炼，一种集群机器人在有障碍物场景中的协同运动方法，发明专利，授权，2020年6月，2.7
黄琪枫，庄杰智，成慧，一种具有独立能量回收路径的超级电容系统，实用新型专利，授权，2020年5月，3.7
林俊潼，成慧，杨旭韵，郑培炜，一种基于深度强化学习的端到端分布式多机器人编队导航方法，发明专利，授权，2020年3月，3.5
成慧，许天野，张晓武，郑泽丰，刘中常，江泽宇，集群无人机分布式快速通信系统及通信方法，发明专利，授权，2019年12月，8.1
成慧，唐薇，江泽宇，一种基于三维连续动态手势识别的无人机人机交互方法，发明专利，授权，2019年3月，7.6
成慧，李小锟，并联增稳全向移动平台，发明专利，授权，2019年1月，3.9
成慧，卢雯，朱启源，一种基于Kinect的移动机器人避障方法，发明专利，授权，2018年6月，1.2
成慧，关宇卫，林倞，一种旋翼无人机移动目标自主跟踪装置及其控制方法，发明专利，授权，2018年6月，3.1
成慧，蒋海洋，江泽宇，一种全向移动机器人的动态避障方法，发明专利，授权，2018年2月，2.8
成慧，李小锟，黄志杰，一种陪跑机器人及其跟踪控制策略与运动控制方法，发明专利，授权，2018年1月，9
成慧，陈有生，一种基于机载传感器的小型四旋翼飞行器控制系统及方法，发明专利，授权，2016年6月，1.X
张晓武 , 郑泽丰 , 黄淼鑫 , 黄俊琳 , 邢敏桦 , 李伟彬 , 成慧，一种具有游戏和按摩的人机交互功能的装置，发明专利，授权，2018年7月，5.1
成慧，关宇卫，林立山，一种旋翼无人机移动目标自主跟踪稳压电路，实用新型专利，授权，2018年3月，5.0
成慧，朱启源，郑卓祺，一种基于激光测距仪的全向移动机器人电源电路，实用新型专利，授权，2017年12月，4.9
成慧，卢雯，一种基于Kinect避障的全向移动机器人，实用新型专利，授权，2016年11月，5.8
张晓武，郑泽丰，黄淼鑫，黄俊琳，邢敏桦，李伟彬，成慧，一种具有游戏和按摩的人机交互功能的装置，实用新型专利，授权，2016年8月，7.2
成慧，吴依莹，林倞，一种融合车载多传感器的SLAM装置，实用新型专利，授权，2016年6月，20**
成慧，李小锟，并联增稳全向移动平台，实用新型专利，授权，2016年1月，0.1
成慧，李小锟，黄志杰，一种陪跑机器人，实用新型专利，授权，2014年11月，0
成慧，陈有生，一种基于机载传感器的小型四旋翼飞行器控制系统及方法，实用新型专利，授权，2014年7月，1
成慧，陈有生，黄永成，一种移动倒立摆小车装置，实用新型专利，授权，2013年7月，9