Publications

2026

1. SIGN: Safety-Aware Image-Goal Navigation for Autonomous Drones via Reinforcement Learning

   Zichen Yan, Rui Huang, Lei He, and 2 more authors

   IEEE Robotics and Automation Letters, 2026
2. Learning Distributed Safe Multi-Agent Navigation via Infinite-Horizon Optimal Graph Control

   Fenglan Wang, Xinguo Shu, Lei He, and 1 more author

   In Robotics: Science and Systems (RSS), 2026

   Accepted
3. TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems

   Rui Huang, Zhiyu Gao, Siyu Tang, and 4 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2026

   Accepted

2025

1. Fluid structure interaction mechanisms of wings with membrane-skeleton structures under low Reynolds number conditions

   Yueyang Guo, Wenqing Yang, Jiaqi Liu, and 2 more authors

   Physics of Fluids, 2025
2. Reinforcement Learning-Based Motion Control for Successive Extremely Narrow Gate Traversal with a Quadrotor Tilt-Rotor

   Yiming Dai, Yanhui Zhang, Lei He, and 3 more authors

   In International Conference on Robotics, Automation, and Artificial Intelligence (RAAI), 2025

2024

1. AI-based monocular pose estimation for autonomous space refuelling

   Duarte Rondao, Lei He, and Nabil Aouf

   Acta Astronautica, 2024

2023

1. A novel mechanism for orbital AI-based autonomous refuelling

   Lei He, Duarte Rondao, and Nabil Aouf

   In AIAA SCITECH 2023 Forum, 2023
2. Event-Triggered Hierarchical Planner for Autonomous Navigation in Unknown Environment

   Changhao Chen, Bifeng Song, Qiang Fu, and 2 more authors

   Drones, 2023
3. Orbital AI-based Autonomous Refuelling Solution

   Duarte Rondao, Lei He, and Nabil Aouf

   arXiv preprint arXiv:2309.11648, 2023

2022

1. An improved point feature-based sparse stereo vision

   Changhao Chen, Bifeng Song, Shuhui Bu, and 1 more author

   IET Image Processing, 2022

2021

1. Explainable Deep Reinforcement Learning for UAV autonomous path planning

   Lei He, Nabil Aouf, and Bifeng Song

   Aerospace science and technology, 2021

   Bib

   @article{he2021explainable,
     title = {Explainable Deep Reinforcement Learning for UAV autonomous path planning},
     author = {He, Lei and Aouf, Nabil and Song, Bifeng},
     journal = {Aerospace science and technology},
     volume = {118},
     pages = {107052},
     year = {2021},
     publisher = {Elsevier},
   }

2. Backstepping sliding-mode control of stratospheric airships using disturbance-observer

   Shi Qian Liu, James F Whidborne, and Lei He

   Advances in Space Research, 2021

2020

1. Deep Reinforcement Learning based Local Planner for UAV Obstacle Avoidance using Demonstration Data

   Lei He, Nabil Aouf, James F. Whidborne, and 1 more author

   arXiv preprint arXiv:2008.02521, 2020

   arXiv
2. Integrated moment-based LGMD and deep reinforcement learning for UAV obstacle avoidance

   Lei He, Nabil Aouf, James F. Whidborne, and 1 more author

   In IEEE International Conference on Robotics and Automation (ICRA), 2020
3. Explainable Deep Reinforcement Learning for UAV autonomous navigation

   Lei He, Nabil Aouf, and Bifeng Song

   arXiv preprint arXiv:2009.14551, 2020

2019

1. Modeling and robust attitude controller design of a distributed propulsion tilt-wing UAV in hovering flight

   Siqi Wang, Bifeng Song, Lei He, and 1 more author

   In 2019 Chinese Control And Decision Conference (CCDC), 2019

2018

1. Robust attitude control system design for a distributed propulsion tilt-wing uav in flight state transition

   Siqi Wang, Bifeng Song, and Lei He

   In Asia-Pacific International Symposium on Aerospace Technology, 2018