Publications

Preprint

1. K. Cao, X. Xu, W. Jin, K. H. Johansson, L. Xie, “A Differential Dynamic Programming Framework for Inverse Reinforcement Learning”, submitted to IEEE Trans. on Robotics, 2024. manuscript submitted to Arxiv, Arxiv Link

Journals

1. J. Li, X. Xu, J. Liu, K. Cao, S. Yuan, L. Xie, “UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry”, IEEE Robotics and Automation Letters, 2025, 10(4): 3652-3659.
2. K. Cao, L. Xie, “Trust-Region Inverse Reinforcement Learning”, IEEE Transactions on Automatic Control, 2024, 69(2): 1037-1044.
3. K. Cao, M. Cao, L. Xie, “Similar Formation Control via Range and Odometry Measurements”, IEEE Transactions on Cybernetics, 2024, 54(6): 3765-3776. Demo video
4. Jianping Li, Shenghai Yuan, Muqing Cao, Thien-Minh Nguyen, Kun Cao, Lihua Xie, “HCTO: Optimality-aware LiDAR inertial odometry with hybrid continuous time optimization for compact wearable mapping system”, ISPRS Journal of Photogrammetry and Remote Sensing, 2024, 211: 228-243. project site
5. K. Cao, X. Li, L. Xie, “Distributed Framework Matching”, IEEE Transactions on Robotics, 2023, 39(1): 823-838. Regular Paper.
6. K. Cao, L. Xie, “Game-Theoretic Inverse Reinforcement Learning with Application to Multi-robot Coordination”, IEEE Transactions on Neural Networks and Learning Systems, 2023, 34(11): 9506-9513.
7. M. Cao, K. Cao, S. Yuan, T Nguyen, L. Xie, “NEPTUNE: Non-Entangling Planning for Multiple Tethered Unmanned Vehicles”, IEEE Transactions on Robotics, 2023, 39(4): 2786-2804. Demo video
8. M. Cao, K. Cao, X. Li, L. Xie, “Distributed control of multi-robot sweep coverage over a region with unknown workload distribution”, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, 53(10): 6503-6515.
9. M. Cao, X. Xu, K. Cao, L. Xie, “System identification and control of the ground operation mode of a hybrid aerial–ground robot”, Control Theory and Technology, 2023, 21: 458-468.
10. K. Cao, M. Cao, S. Yuan, L. Xie, “DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation”, IEEE Robotics and Automation Letters, 2022, 7(2): 2439-2446. (also accepted to IEEE International Conference on Robotics and Automation, 2022.) Demo video, code
11. L. Chen, K. Cao, L. Xie, X. Li, F. Mir, “3D Network Localization Using Angle Measurements and Reduced Communication”, IEEE Transactions on Signal Processing, 2022, 70: 2402-2415.
12. K. Cao, Z. Han, Z. Lin, L. Xie, “Bearing-only Distributed Localization: A Unified Barycentric Approach”, Automatica, 2021, 133: 109834.
13. M. Cao, K. Cao, X. Li, et al. “Distributed Multi-robot Sweep Coverage for a Region with Unknown Workload Distribution”, Autonomous Intelligent Systems, 2021, 1(13): 1-10. Demo video
14. D. Li, K. Cao, L. Kong, H. Yu, “Fully Distributed Cooperative Circumnavigation of Networked Unmanned Aerial Vehicles”, IEEE/ASME Transactions on Mechatronics, 2021, 26(2): 709-718.
15. K. Cao, Z. Qiu, L. Xie, “Relative Docking and Formation Control via Range and Odometry Measurements”, IEEE Transactions on Control of Network Systems, 2020, 7(2): 912-922.
16. K. Cao, Z. Han, X. Li, L. Xie, “Ratio-of-Distance Rigidity Theory with Application to Similar Formation Control”, IEEE Transactions on Automatic Control, 2020, 65(6): 2598-2611, Regular Paper.
17. K. Cao, X. Li, L. Xie, “Preview-Based Discrete-Time Dynamic Formation Control Over Directed Networks via Matrix-Valued Laplacian”, IEEE Transactions on Cybernetics, 2020, 50(3): 1251-1263.
18. K. Cao, D. Li, L. Xie, “Bearing-Ratio-of-Distance Rigidity Theory with Application to Directly Similar Formation Control”, Automatica, 2019, 109: 108540
19. K. Cao, R. Kang, DT. Branson, S. Geng, Z. Song, J. Dai, “Workspace Analysis of Tendon-Driven Continuum Robots Based on Mechanical Interference Identification”, Journal of Mechanical Design, 2017, 139(6): 062303. Demo video

Conferences

1. G. Chen, K. Cao, K. H. Johansson, Y. Hong, “Continuous-Time Damping-Based Mirror Descent for a Class of Non-Convex Multi-Player Games with Coupling Constraints”, IEEE International Conf. on Control and Automation (ICCA), 2024. (🏆 Best Paper Award)
2. M. Cao, X. Xu, S. Yuan, K. Cao, K. Liu, L. Xie, “DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheel’’, International Conference on Intelligent Robots and Systems (IROS), 2023. (🏆 IROS Best Entertainment and Amusement Paper Award)
3. M. Cao, K. Cao, S. Yuan, K. Liu, Y. Wong, L. Xie, “Path Planning for Multiple Tethered Robots Using Topological Braids”, Robotics: Science and Systems(RSS), 2023. Demo video
4. C. Wang, …, K. Cao, …, “PyPose: A Library for Robot Learning with Physics-based Optimization”, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
5. Z Wu, W Li, P Wang, K Cao, Y Pan, “Vision-Based Potential Field Path Planning for Robot Obstacle Avoidance Under Field-of-View Constraints”, International Conference on Automation Science and Engineering (CASE), 2023.
6. Z. Hanif, K. Cao, L. Xie, “Efficient Online Jerk-limited Trajectory Generation for Multicopters Using Barrier Functions”, IEEE Conf. on Unmanned Aircraft Systems (ICUAS), 2021.
7. K. Cao, Z. Qiu, and L. Xie, “Relative docking via range-only measurements”, IEEE International Conf. on Control & Automation (ICCA), 2019.
8. K. Cao, Z. Han, X. Li and L. Xie, “Ratio-of-Distance Rigidity in Distributed Formation Control”, International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018.
9. K. Cao, X. Li, and L. Xie, “Preview-based formation control”, Chinese Control Conference (CCC), 2018.
10. K. Cao, R. Kang, DT. Branson, S. Geng, Z. Song, JS. Dai, “Kinematic Model and Workspace Analysis of Tendon-driven Continuum Robots”, Intl Federation for the Promotion of Mechanism and Machine Science (IFToMM), 2015.