Lihua Xie:   Research

School of Electrical and Electrical Engineering Nanyang Technological University

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If you are interested in the following listed research topics and would like to join us as research staff or student, please write to me directly.


Current Research Areas and Interests

(a)    Networked Control and Learning Based Control

·       Quantized feedback

·       Data rate

·       Learning based control

·       Cyber-security

(b)   Multi-agent Systems and Distributed Optimization

·       Cooperative control of multi-agent systems

·       Data rate and network topology for distributed consensus

·       Distributed sensor fusion algorithms

·       Formation control

·       Distributed optimization

(c) Cooperative Localization and Control of Unmanned Systems in GPS Denied Environment

·       Cooperative localization algorithms

·       UWB based cooperative localization

·       Integrative cooperative localization and control

·       Fast SLAM

·       UAVs and UGVs for logistics and structure inspection

(d)  Indoor Position and Human Activity Recognition

·       WiFi based indoor positioning system

·       CSI based human activity recognition system

·       Machine learning

Awards and Honors:


o   Best Student Paper Award at the 3rd IFAC Workshop on Cyber-Physical Human Systems (CPHS 2020) for the paper "Human-Centered Design for Safe Teleoperation of Connected Vehicles" (co-authored by F. Jiang, Y. Gao, and K.H. Johansson).

o  Best Paper Award at 2017 IEEE International Conference on Unmanned Systems (IEEE ICUS 2017), Beijing, Oct. 2017 for the paper “Infrastructure-free cooperative relative localization for mobile unmanned aerial vehicles in GPS-denied environments” (co-authored with K. Guo).

o  Best Paper Award at the 18th International Conference on Advanced Robotics (ICAR 2017), Hong Kong, July 2017 for the paper “Non-Iterative SLAM” (co-authored with C. Wang and J. Yuan).

o  My URECA student Hoang Minh Chung won the Overall Winner Award of NTU URECA Poster Competition, March 2017.

o  Highly Cited Researcher by Clarivate Analytics ( in 2017.

o  Highly Cited Researcher by Academic Ranking of World Universities ( and Thomson Reuters in 2016.

o  Highly Cited Researcher by Academic Ranking of World Universities ( and Thomson Reuters in 2015.

o  Highly Cited Researcher by Academic Ranking of World Universities ( and Thomson Reuters, 2014.

o  Elected to Fellow of the Chinese Automation Association, 2016.

o  Microsoft Indoor Localization Competition Award, 3rd Place (Infrastructure-free Approaches): WiFi-based Indoor Localization System by Using Weighted Path Loss and Extreme Learning Machine, The 13th ACM/IEEE Int. Conf. on Information Processing in Sensor Networks (IPSN), Berlin, April 2014.

o   Elected to be an IEEE Distinguished Lecturer in May 2012.

o   Prestigious IBM Faculty Award, June 2011.

o   Elected to Prestigious Fellow of IFAC for contribution to robust control and estimation theory with their application to communications in May 2011.

o   Guan Zhao Zhi Award at the 29th Chinese Control Conference for the paper “Mean Square Stabilizability of Linear Systems with Limited Feedback Data Rates and Markovian Packet Losses,” (co-authored with K. You), July 2010.

o   Best Paper Award for the paper “Distributed consensus of multi-agent systems with finite-level quantization” (co-authored with T. Li, M. Fu and J. Zhang) at the 7th Asia Control Conference,  Hong Kong, August 26-28, 2009.

o   Best Student Paper Award for the paper “Optimal Filtering for Continuous-time Linear Systems with Time-varying Delay” (by W. Wang, H. Zhang and L. Xie) at the 6th Int. Conf. on Information, Communications, and Signal Processing, December 10-13, 2007, Singapore.

o   Elected to Fellow of IEEE in Jan. 2007.

o   Best Theoretical Paper Award for the paper “Robust Kalman filtering for discrete-time systems with measurement delay” (co-authored with X. Lu, H. Zhang and W. Wang) at the 6PthP World Congress of Intelligent Control and Automation, China, June 21-23, 2006.

o   Changjiang Scholar award, Ministry of Education, P.R. China, 2006.

o   Elected to Fellow of Institution of Engineers, Singapore in 2005.

o   Occupational Health Best Practices Award (Excellence and Innovation), Ministry of Manpower, Republic of Singapore, for the project “Intelligent Monitoring and Control System for Hazardous Chemical Waste Treatment,” Oct. 2004.

o   Science and Technology Award, second prize, by Ministry of Mechanical Industries, P.R. China,

Funded Research Projects

·       NRF Medium Sized Centre for Advanced Robotics Technology Innovation (CARTIN), Lead PI, $24,440,000, 30 March 2021-30 March 2026.

·       Robust Flight Control for High Capacity VTOL UAV, PI, $249,500, STE-NTU Corp Lab, April 2020 - March 2021.

·       Seamless Navigation for the Blind and Visually Impaired, PI, $783,000, Tote Board, July 2020 - June 2021.

·       Efficient and Precision Docking for AGVs in Dynamic Environments, PI, $555,000.00, Delta-NTU Corp Lab, Jan. 2020 - 30 June 2021.

·       Asynchronous Distributed Online Optimization over Multi-agent Networks with Limited Information Exchange, PI, $120,000, MoE Tier 1, Nov 2019 - Oct 2021.

·       Drone Inspection System for Building Façade, PI, $639,570, NRF, 18 Feb 2019-17 Nov 2020.

·       UAV Localization and Safe Navigation around Container Cranes during Inspection, PI, $774,000, NRF STE-NTU Corporate Lab, Sept. 2018 - June 2020.

·       Industrial Internet of Things - Control Network Security, ASTAR, $439,200, PI, 1 Sept. 2017 - 31 August 2020.

·       Scalable Multi-Robot Sensor Fusion, Localization, Navigation and Control, Joint WASP/NTU Research Grant, $270,000, Co-PI (allocated amount of $135,000), 1 March 2018 - 28 Feb. 2021.

·       Development of Dynamic Reconfigurable Material Handling System, NRF-Delta, $1,794,100, PI, 1 July 2016 - 30 June 2021.

·       Obstacle detection and avoidance in GPSless Environment, PI, $145,000, NRF STE-NTU Corporate Lab, July 2016 to June 2018.

·       NTU-Delta Corporate Lab for Cyber-Physical Systems, NRF-Delta Electronics-NTU, 1 July 2016-30 June 2021, $45,000,000, Director.


Past Postdoctoral Fellows:



Current Research Staff Members

1.     Dr. Ran Maopeng, learning based control and cyber-security

2.     Dr. Ding Kemi, graph signal processing and secure control

3.     Dr. Chen Chun-Lin, sensing and perception for robotic systems

4.     Dr. Li Maoxun, robot platform design and control

5.     Dr. Zhang Sheng, precision docking for AGVs

6.     Dr. Xu Xinping, occupancy detection

7.     Mr. Cao Muqing, control design for UAVs

8.     Mr. Ji Tete, vision based SLAM

9.     Mr. Wang Han, Lidar based SLAM

10.  Dr. Yuan Shenghai, sensor fusion for UAVs

11.  Dr. Lyu Yang, sensor fusion for UAVs

12.  Dr. Hanif Zaini, UAV control

13.  Dr. Nguyen Thien Minh, Wallenberg-NTU Presidential Postdoctoral Fellow, localization for unmanned systems

14.  Mr. Cao Kun, multi-agent systems

15.  Dr. Chen Ci, Wallenberg-NTU Presidential Postdoctoral Fellow, learning based control

16.  Dr. Yang Jianfei, NTU Presidential Postdoctoral Fellow, machine learning


Graduated Ph.D. Students

  1. Xie Shoulie, 1997-1999, Ph.D. (Research Scientist, I2R, A*Star, Singapore

Thesis title: Robust and nonlinear control of interconnected systems.

  1. Du Chunling, 1997-1999, Ph.D. (Research Scientist, Advanced Remanufacturing Center, A*Star, Singapore)

Thesis title: H-infinity filtering and control of two-dimensional systems.

  1. Li Luowen, 1997-1999, Ph.D. (Senior Engineer, ST Engineering)

Thesis title: Optimal model reduction and reduced order filtering.

  1. Zhou Huan, 2000 - 2003, Ph.D. (Research Scientist, I2R, A*Star, Singapore)

Thesis title: H2 and H-infinity optimal design of multirate filter bank systems.

  1. Lu Lilei, 2000- 2004, Ph.D.

Thesis title: Issues in Robust and Networked Control Systems.

  1. Zhang Sen, 2002-2005, Ph.D. (Professor, Beijing University of Science and Technology)

Thesis title: Simultaneous Localization and Map Building for Outdoor Mobile Robot Navigation.

  1. Xu Jun, 2003- 2006, Ph.D. (Senior Vice-President, Data Scientist, HSBC)

Thesis title: Control and Estimation of Piecewise Affine Systems.

  1. Cao Chengtao, 2003- 2007, PhD

Thesis title: A Polynomial Approach to Robust Estimation with Applications in DS-CDMA Systems.

  1. Lin Jun, 2002- 2007, Ph.D.

Thesis title: Robust Deconvolution and Control of Uncertain and Time Delay Systems with Applications.

  1. Teoh Jul Nee, 2003-2007, Ph.D. 

Thesis title: High precision servo control in disk drives.

  1. Lin Jianyong, 2005-2010, Ph.D.

Thesis title: Energy Efficient Sensor Scheduling and Filtering Algorithms for Target Tracking in Wireless Sensor Networks

  1. You Keyou., 2007-2011, Ph.D. (Associate Professor, Young Thousand Talent, Outstanding Youth, 青千,优青, Tsinghua University)

Thesis title: Control and Estimation with Limited Data Rate and Packet Loss)

  1. Xiao Nan, 2007-2011, Ph.D.  (Alibaba, Singapore)

Thesis title: Filtering and Control of Networked Systems over Unreliable Channels

  1. Liu Shuai, 2007-2011, Ph.D. (Professor, Young Thousand Talent, 青千, Shandong University)

Thesis title: Control of Single and Multiple Agent Systems with Input and Communication Delays

  1. Hu Jinwei, 2008-2012, Ph.D. (Associate Professor, Northwestern Polytechnic University)

Thesis Title: Information Fusion and Cooperative Control for Target Search and Localization in Multi-Agent Sensor Networks

  1. Gao Tingting, 2008-2012, Ph.D.

Thesis Title: Integrated Plant/Controller Design and Implementation for High Track Density HDD Servo Systems

  1. Meng Wei, 2009-2013, Ph.D. (Professor, Young Thousand Talen,青年珠江学者Guangdong University of Technology)

Thesis Title: Distributed Source Localization in Wireless Sensor Networks

  1. Yang Zai, 2009-2013, Ph.D. (Professor, Outstanding Youth, Xi’an Jiaotong University)

Thesis Title: Analysis, Algorithms and Applications of Compressed Sensing

  1. Yu Chengpu, 2009-2013, Ph.D. (Professor, Young Thousand Talent, 青千, Beijing Institute of Technology)

Thesis Title: Blind System Identification with Application to Medical Imaging

  1. Wang Xuehe, Aug. 2011-2015, Ph.D. (Assistant Professor, Singapore University of Technology)

Thesis Title: Existence, Convergence and Efficiency Analysis of Nash Equilibrium and Its Applications

  1.  Zou Han, 2012 - 2016, Ph.D. (Scientist, IBM)

Thesis Title: Robust and Accurate Localization Algorithms for Indoor Positioning and Navigation

  1.  Long Yushen, 2012- 2016, Ph.D. (Research Scientist, Institute for Info-Comm Research)

Thesis Title: Distributed and Cooperative Control with Applications to Building HVAC Systems

  1.  Qiu Zhirong, 2013-2017, Ph.D. (Research Fellow, NTU)

Thesis Title: Distributed Multi-agent Consensus under Constraints

  1.  Xu Liang, 2013-2017, Ph.D. (Postdoctoral Fellow, EPFL, Switzerland)

Thesis Title: Control over Networks with Fading Communication Channels

  1.  Niu Junpeng, Jan 2014 -Jan. 2018, PhD. (Senior Engineer, Grab)

Thesis Title: Hybrid System Analysis and Design for Scale-out Storage Environments

26.  Sampath Kumar Padmanabhan, 2014-Aug. 2018, PhD. (Research Engineer, Delta Electronics)

Thesis title: Conditioning Monitoring of Brushless Synchronous Generators Using Wireless Sensors

27.  Guo Kexin, Aug. 2014-Aug. 2018, PhD. (Beihang University)

Thesis title: Ultra-wideband-based Navigation for Unmanned Aerial Vehicles

28.  Wang Chen, 2014-2018, Ph.D. (Postdoctoral Fellow, Robotics Institute@CMU)

Thesis Title: Kernel Learning for Visual Perception

29.  Wu Xuepei, 2012-2018, Ph.D. CContinental)

 Thesis Title: Study on Real-time Industrial Control Networks

30.  Nguyen Pham Nhat Thien Minh, 2015-2019, Ph.D. (NTU Presidential Postdoctoral Fellow)

Thesis Title: Ranging-Based Adaptive Navigation for Autonomous Micro Aerial Vehicles

31.   Abdul Hanif Bin Zaini, 2015-2019, Ph.D. (Research Fellow, NTU)

Thesis Title: UAV Swarming with Collision Avoidance and Communication Constraints

32.  Cao Kun, 2016 - 2020, PhD. (Research Fellow, NTU)

Thesis title: Distributed Formation Shape Control of Multi-Robot Systems

33.  Yang Jianfei, Aug. 2016 - 2020, PhD. (NTU Presidential Postdoctoral Fellow)

Thesis Title: Towards Robust Sensing and Recognition: From Statistical Learning to Transfer Learning

34.  Gao Yulong, 2016 – 2020 (KTH-NTU joint PhD programme), Ph.D.

Thesis title: Safe Autonomy under Uncertainty: Computation, Control and Application.

35.  Wang Han, Jan. 2017-Jan. 2021, PhD

Thesis title: Robust and light-weight Simultaneous Localization and Mapping for Autonomous Vehicles.

36.  Fang Xu, Jan. 2017 – Jan. 2021, PhD

Thesis title: Cooperative Localization and Control of Networked Systems.

37.  Li Juncheng, August 2017 – July 2021, PhD

Thesis Title: Motion Planning for Non-Holonomic Mobile Robots in Obstacle-Rich Environments

38.  Liu Hanxiao, August 2017 – Jan 2021, PhD

Thesis Title: Analysis, Detection, and Mitigation of Attacks in Cyber-physical Systems



On-going Ph.D. students:


1.     Ji Tete, Jan. 2017-  (Part-Time)

Visual-Inertial Navigation for MAV

2.     Nguyen Hoang Thien, Aug. 2018 -

      Range-assisted Visual-Inertia Odometry

3.     Cao Muqing, Aug. 2018 – (Part-Time)

Control of Unmanned Systems

4.     Wang Dazhuo, Aug. 2018 –

5.     Huang He, Aug. 2020 -

             Precision Docking of Robots

6.     Qian Hanjie, Aug. 2019 -

      Machine Learning for Defect Detection


MEng. Students

  1. Su Weizhou, 1995 - 1996, MEng., Robust control of cascaded uncertain nonlinear systems, Professor, South China University of Technology
  2. Xie Shoulie, 1995 - 1996, MEng, Dissipative control of uncertain dynamical systems, Research Scientist, Institute of Info-Comm Research.
  3. Chen Chang, 1995 - 1996, MEng, Robust and optimal control of helicopter systems, Defense Science Organization, Singapore.
  4. Yang Xiao Hua, 1997 - 1999, MEng, Multi-channel active noise control
  5. Tian Hui, 1997 - 1998, M.E. Nonlinear composite control of hard disk drive
  6. Bayu Jayawardhana, 2001-2002, MEng, Active Noise Control, Professor, University of Groningen, Netherland. 
  7. Toh Yue Khing, 2007-2009, MEng, Development of A Wireless Sensor Network Target Tracking System, Institute of Info-Comm Research.
  8. Saba Salehi, 2007-2009, MEng, Networked Control for Pressure Loop of HVAC System, National University of Singapore.
  9. Yu Zhong, 2007-2010, MEng, Cooperative Control of Multi-robot Systems.
  10. Ni Wei, 2007-2010, MEng, Process Control, Institute of Info-Comm Research.
  11. Eric Toh, 2010-present MEng, Development of a multi-agent cooperation system.

12.  Lu Xiaoxuan, Aug. 2013-July 2015, MEng, Development of Localization Algorithms for a WiFI Based Indoor Positioning System with Machine Learning Techniques.

13.  Wei Dong, Aug. 2014-, MEng, Formation flight control of Multiple UAV

14.  Zhang Songyuan, Aug. 2014-, MEng, Vision based Navigation and Control of Unmanned Aerial Vehicles.


MSc. Students

  1. Tay Huck Sun, 1995 - 1996, MSc, Precision headload control of high capacity disk drive.
  2. Tham Poi Kwan, 1995 - 1997, MSc, Head positioning control of hard disk drive
  3. Gao Wei, 1996 - 1998, MSc, H-infinity iterative control of ball and plate systems
  4. Zaw Naing Oo, 1995 - 1999, MSc, Robust control of simplified helicopter model
  5. Zheng Hong, 1998-2000, MSc, Active Noise Control
  6. Huang Fu Zhong, Master of Science, 1997-2000, Identification and control of a distillation column
  7. Gao Ronghua, 2002-2003, MSc, Robust estimation with applications in signal dectection
  8. Li Hui, 2002-2003, MSc, System identification and active vibration control of a hexpod
  9. Sai Sai, 2002-2003, MSc, Active vibration control
  10. Zhang Ling, 2002-2003, Energy optimization of air distribution and chilled water systems
  11. Low Cher Wee, 2002-2003, Active noise control for air handling unit
  12. Myo Thant Aung, Master of Science, 2002-2003, Modeling and control of a Stewart platform
  13. Tan Toa You, Master of Science, 2003-2004, Multirate digital notch filter and resonance screening for hard disk drive
  14. Maung Aung Khant, Master of Science, 2004, Control of Stewart platform – An adaptive filtering approach
  15. Du Zhe, MSc., 2005-2006, Control of Stewart Platform
  16. Leng Mei, MSc., 2006-2007, Multi-hop Routing in Wireless Sensor Networks
  17. Huang Kang, MSc., 2006-2007, Development of A Body Sensor Network System
  18. Liu Jiandong, MSc., 2007, Quantized Filtering with Application in Wireless Sensor Network Based Target Tracking System
  19. Tian Wei, Msc., 2009-2010, Development of A Multi-Robot Cooperative Tracking System.