publications

2026

1. dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments

   Duo Zhang, Hechen Zhang, Junshan Huang, and Jingjin Yu

   arXiv preprint arXiv:2609.31412, 2026

   arXiv Bib PDF

   @article{zhang2026drvg,
     title = {{dRVG}: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments},
     author = {Zhang, Duo and Zhang, Hechen and Huang, Junshan and Yu, Jingjin},
     journal = {arXiv preprint arXiv:2609.31412},
     year = {2026},
     url = {https://arxiv.org/abs/2609.31412},
   }

2. ST-pRRTC: Parallel Space-Time RRT-C with Adaptive Goal-Time Forests

   Duo Zhang, Jintong Li, Junshan Huang, and Jingjin Yu

   arXiv preprint arXiv:2609.30533, 2026

   arXiv Bib PDF Website

   @article{zhang2026stprrtc,
     title = {{ST-pRRTC}: Parallel Space-Time {RRT-C} with Adaptive Goal-Time Forests},
     author = {Zhang, Duo and Li, Jintong and Huang, Junshan and Yu, Jingjin},
     journal = {arXiv preprint arXiv:2609.30533},
     year = {2026},
     url = {https://arxiv.org/abs/2609.30533},
   }

3. 

   Efficient Bézier Velocity Optimization for Free-Floating Space Manipulators

   Duo Zhang, Zhizhuo Zhang, Xiaoli Bai, and Jingjin Yu

   arXiv preprint arXiv:2609.31880, 2026

   arXiv Bib PDF

   @article{zhang2026favor,
     title = {Efficient B{\'e}zier Velocity Optimization for Free-Floating Space Manipulators},
     author = {Zhang, Duo and Zhang, Zhizhuo and Bai, Xiaoli and Yu, Jingjin},
     journal = {arXiv preprint arXiv:2609.31880},
     year = {2026},
     url = {https://arxiv.org/abs/2609.31880},
   }

4. 

   High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement

   Duo Zhang, Junshan Huang, and Jingjin Yu

   ICRA, 2026

   Bib PDF Website

   @article{zhang2026high,
     title = {High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement},
     author = {Zhang, Duo and Huang, Junshan and Yu, Jingjin},
     journal = {ICRA},
     year = {2026},
     publisher = {IEEE},
   }

2025

1. 

   Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot

   Duo Zhang, Zihe Ye, and Jingjin Yu

   ICRA, 2025

   Bib PDF Website

   @article{zhang2025asymptotically,
     title = {Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot},
     author = {Zhang, Duo and Ye, Zihe and Yu, Jingjin},
     journal = {ICRA},
     year = {2025},
     publisher = {IEEE},
   }

2024

1. 

   Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision

   Duo Zhang, Chen Liang, Xifeng Gao, Kui Wu, and Zherong Pan

   IEEE Transactions on Robotics, 2024

   Bib PDF

   @article{zhang2024provably,
     title = {Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision},
     author = {Zhang, Duo and Liang, Chen and Gao, Xifeng and Wu, Kui and Pan, Zherong},
     journal = {IEEE Transactions on Robotics},
     year = {2024},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/10505800},
   }

2022

1. 

   Planning of power grasps using infinite program under complementary constraints

   Zherong Pan, Duo Zhang, Changhe Tu, and Xifeng Gao

   IEEE Robotics and Automation Letters, 2022

   Bib PDF

   @article{pan2021planning,
     title = {Planning of power grasps using infinite program under complementary constraints},
     author = {Pan, Zherong and Zhang, Duo and Tu, Changhe and Gao, Xifeng},
     journal = {IEEE Robotics and Automation Letters},
     volume = {7},
     number = {1},
     pages = {650--657},
     year = {2022},
     publisher = {IEEE},
     url = {https://ieeexplore.ieee.org/abstract/document/9626457},
   }