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Zhi Yan

Assistant Professor (Maître de conférences)

EPAN Research Group
Distributed Artificial Intelligence and Knowledge Laboratory (CIAD)
University of Technology of Belfort-Montbéliard (UTBM)
France
zhi[dot]yan[at]utbm[dot]fr
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Biography

I am currently an Assistant Professor in the Distributed Artificial Intelligence and Knowledge Laboratory (CIAD) at the University of Technology of Belfort-Montbéliard (UTBM). From 2016 to 2017, I was a Postdoctoral Research Fellow in the Lincoln Centre for Autonomous Systems (L-CAS) at the University of Lincoln, mainly working on the Horizon 2020 project FLOBOT, and also involved in the Horizon 2020 project ENRICHME. From 2013 to 2015, I was a Postdoctoral Research Fellow in software engineering for robotics in the CAR Team at the IMT Lille Douai. In 2012, I received my Ph.D. degree in computer science (multi-robot systems) from the Paris 8 University. My research interests are in mobile robotics, chronorobotics, and autonomous driving.

Reviewer for Journal of Artificial Intelligence Research, Autonomous Robots, Journal of Intelligent and Robotic Systems, IEEE Robotics and Automation Letters, IEEE Transactions on Cybernetics, IEEE Transactions on NanoBioscience, ICRA'20, ICRA'19, ICRA'18, IROS'18, IROS'17, IROS'16, IROS'14, RO-MAN'17.
Program committee member of the Workshop on Robot Perception of Humans.
Technical committee member of the IEEE-RAS Multi-Robot Systems.

Founder and leader of the EPANer Robotics Team.
Former member of the L3M Robot Soccer Team.

My Erdös number is at most 5 (Richard J. NowakowskiTristan CazenaveNicolas Jouandeau).


Research

Robot Perception: multisensor fusion, human detection and tracking, active perception, thermal image analysis

Multi-Robot Systems: exploration, coordination, planning, benchmarking, simulation.

Robots: Pioneer 3-AT, robuLAB-10, NAO

Sensors: Velodyne VLP-16/HDL-32E, Bumblebee 2/XB3, Optris PI-450, ASUS Xtion, HOKUYO UTM-30LX, SICK LMS100/S300, KODAK SP360


Projects

[5]  DENOSAU: point cloud DENOising in adverSe weather conditions for AUtonomous driving. Principal-Investigator, UTBM-Renault joint research project, €60,000, 2019.
[4]  MACPOLO: Multisensor-based ACtive Perception and mObile grasping in assisted Living envirOnments with HSR robot. Principal-Investigator, Toyota Partner Robot joint research project, Human Support Robot, 2018-2021.
[3]  3L4AV: Lifelong learning of dynamic objects detection and tracking in adverse conditions for autonomous vehicles. Principal-Investigator, PHC Barrande (UTBM-CTU mobility project), €5,000, 2018-2019.
[2]  Lifelong learning for accurate perception and localization of autonomous vehicles. Principal-Investigator, UTBM Research Quality Bonus, €4,600, 2017-2018.
[1]  Human visual information transmission modeling and its application in computer-aided diagnosis system of eye diseases. Co-Investigator, PHC Xu Guangqi (UP8-CSU mobility project), €10,000, 2012-2013.

Publications

For a full list please refer to my Google Scholar.

Chapters in book

[1]  Nicola Bellotto, Serhan Cosar, and Zhi Yan. Human detection and tracking. In Marcelo Ang, Oussama Khatib, and Bruno Siciliano, editors, Encyclopedia of Robotics, 2018. [BibTeX | PDF]

Refereed journal articles

[5]  Zhi Yan, Tom Duckett, and Nicola Bellotto. Online learning for 3D LiDAR-based human detection: Experimental analysis of point cloud clustering and classification methods. Autonomous Robots, 2019. [BibTeX | PDF]
[4]  Li Sun, Zhi Yan, Anestis Zaganidis, Cheng Zhao, and Tom Duckett. Recurrent-OctoMap: Learning state-based map refinement for long-term semantic mapping with 3-D-lidar data. IEEE Robotics and Automation Letters, 2018. [BibTeX | PDF | Video]
[3]  Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. Building a ROS-based testbed for realistic multi-robot simulation: Taking the exploration as an example. Robotics, 6(3):1-21, September 2017. [BibTeX | PDF | Code | Video1 | Video2]
[2]  Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. Benchmarking des performances de systèmes multirobots. Application à l'exploration. Revue d'Intelligence Artificielle, 30(1-2):211-236, 2016. [BibTeX | PDF]
[1]  Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. A survey and analysis of multi-robot coordination. International Journal of Advanced Robotic Systems, 10(399):1-18, December 2013. [BibTeX | PDF]

Refereed conference papers

[13]  Tomas Vintr, Zhi Yan, Tom Duckett, and Tomas Krajnik. Spatio-temporal representation for long-term anticipation of human presence in service robotics. In Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [BibTeX | PDF]
[12]  Zhi Yan, Li Sun, Tom Duckett, and Nicola Bellotto. Multisensor online transfer learning for 3D LiDAR-based human detection with a mobile robot. In Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018. [BibTeX | PDF | Code | Dataset]
[11]  Serhan Cosar, Zhi Yan, Tryphon Lambrou, Shigang Yue, and Nicola Bellotto. Thermal camera based physiological monitoring with an assistive robot. In Proceedings of the 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, USA, July 2018. [BibTeX | PDF | Code | Dataset | Video]
[10]  Li Sun, Zhi Yan, Sergi Molina Mellado, Marc Hanheide, and Tom Duckett. 3DOF pedestrian trajectory prediction learned from long-term autonomous mobile robot deployment data. In Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. [BibTeX | PDF | Dataset | Video]
[9]  Zhi Yan, Tom Duckett, and Nicola Bellotto. Online learning for human classification in 3D LiDAR-based tracking. In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 864-871, Vancouver, Canada, September 2017. [BibTeX | PDF | Code | Dataset | Video1 | Video2]
[8]  Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. Metrics for performance benchmarking of multi-robot exploration. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3407-3414, Hamburg, Germany, September 2015. [BibTeX | PDF | Video]
[7]  Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. Benchmarking de performance pour l'exploration multi-robots. In Proceedings of the Vingt-troisièmes Journées Francophones sur les Systèmes Multi-Agents (JFSMA), pages 9-18, Rennes, France, June 2015. [BibTeX | PDF]
[6]  Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi. Team size optimization for multi-robot exploration. In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pages 438-449, Bergamo, Italy, October 2014. [BibTeX | PDF]
[5]  Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. Multi-robot heuristic goods transportation. In Proceedings of the 6th IEEE International Conference on Intelligent Systems (IS), pages 409-414, Sofia, Bulgaria, September 2012. [BibTeX | PDF | Video]
[4]  Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. ACS-PRM: Adaptive cross sampling based probabilistic roadmap for multi-robot motion planning. In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS), pages 843-851, Jeju Island, Korea, June 2012. [BibTeX | PDF]
[3]  Nicolas Jouandeau and Zhi Yan. Decentralized waypoint-based multi-robot coordination. In Proceedings of the 2012 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems (CYBER), pages 175-178, Bangkok, Thailand, May 2012. [BibTeX | PDF]
[2]  Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. Multi-robot decentralized exploration using a trade-based approach. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (ICINCO), pages 99-105, Noordwijkerhout, Netherlands, July 2011. [BibTeX | PDF]
[1]  Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif. Sampling-based multi-robot exploration. In Proceedings of the Joint 41st International Symposium on Robotics and 6th German Conference on Robotics (ISR/ROBOTIK), pages 44-49, Munich, Germany, June 2010. [BibTeX | PDF | Video]

Thesis

[1]  Zhi Yan. Contributions à la coordination de tâches et de mouvements pour un système multi-robots. PhD thesis, Paris 8 University, December 2012. [BibTeX | PDF]

Teaching

University of Technology of Belfort-Montbéliard

Paris 8 University


Games

ClickShoot2009 is a mobile game that I developed for Extra Live (France) company in 2008. This 2.5D football game, developed in J2ME (Java 2 Platform, Micro Edition), has two game modes: quick play mode and championship mode. Quick play mode allows starting a single match with two different teams. Championship mode takes place in two phases: qualifiers and finals. 32 teams are available and different abilities of opponents have been defined in this game.

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Dodgeball2008 is a mobile game that I developed for Extra Live (France) company in 2007. This 3D dodgeball game, developed in J2ME (Java 2 Platform, Micro Edition), has two game modes: solo mode and tournament mode. 8 avatars are available and different abilities of opponents have been defined in this game. In order to improve the gameplay, a bonus system was devised which allows the player and the computer opponent to get special skills by throwing a ball on the mobile icon appearing in the field.

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