I am actively seeking Ph.D. opportunities in data-driven motion planning and robot control for real robotic systems.

I am an M.S. student in Electronic Information at Hunan University, advised by Prof. Zhiqiang Miao and Prof. Yaonan Wang. My research centers on data-driven motion planning and robot control for real robotic systems, especially how generative planners can incorporate dynamics, feedback, contact constraints, and physical limits to produce reliable motion.

My current work explores generative planning from real robot-payload data, extending my prior work in constrained underwater robot control toward motion generation under uncertainty.

🔥 News

Aug 2026: Our SubCat paper on model-predictive control for a compact vectored-thrust underwater robot appears in IEEE Robotics and Automation Letters.
Jul 2026: Our Koopman-MPC work for thrust-vectored underwater vehicle control appears in IEEE Robotics and Automation Letters.
May 2026: Our work on safety-guaranteed fault-tolerant NMPC for underwater vehicles appears in IEEE Robotics and Automation Letters.
Oct 2025: Our work on passive fault-tolerant control under actuator faults and disturbances appears at IEEE/RSJ IROS 2025.

📝 Publications

RA-L 2026

SubCat: Design and Control of a Vectored-Thrust Underwater Robot with Model Predictive Control

Jun Wei, Zhiqiang Miao, Yizong Chen, Xinjiang Liu, Yaonan Wang

IEEE Robotics and Automation Letters (RA-L), Aug 2026

Paper

RA-L 2026

Weighted Online Koopman Learning for Model Predictive Control of Thrust-Vectored Underwater Vehicles

Yizong Chen, Zhiqiang Miao, Jun Wei, Yaonan Wang

IEEE Robotics and Automation Letters (RA-L), Jul 2026

Paper

RA-L 2026

Fault-Tolerant NMPC with Safety Guarantees for Underwater Vehicles

Jun Wei, Zhiqiang Miao, Jinbao Zhang, Yizong Chen, Yaonan Wang

IEEE Robotics and Automation Letters (RA-L), May 2026

Paper

IROS 2025

Dual-Mode Passive Fault-Tolerant Control for Underwater Vehicles with Actuator Faults and Time-Varying Disturbances

Yizong Chen^*, Jun Wei^*, Zhiqiang Miao, Kangcheng Liu, Yaonan Wang
^* Equal contribution

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Oct 2025

Paper

💻 Projects

underwater_ros2_control: ROS 2 control framework for sim-to-real underwater robot experiments and deployment.

tag_ekf_localization: AprilTag-based EKF localization package for ROS robot state estimation.
subcat-hw: Hardware design repository for the SubCat vectored-thrust underwater robot.
BusLink: STM32-based multi-bus USB bridge for UART, CAN, SPI, I2C, and PWM.