Yang Song, Ph.D.

Robotics Research

My doctoral research focused on decentralized multi-robot coordination and formation control, spanning from 2012 to 2016. I developed provably correct algorithms for scalable multi-robot systems that eliminate the need for central coordination, enabling robots to autonomously form complex patterns and adapt to dynamic environments.

My key contributions include: "Repeating Patterns of Mobile Robots: A Provably Correct Decentralized Algorithm" (IROS 2016), which established mathematical foundations for decentralized pattern formation; "Decentralized formation of arbitrary multi-robot lattices" (ICRA 2014), enabling flexible formation control for any desired lattice structure; "Comparison of constrained geometric approximation strategies for planar information states" (ICRA 2012), providing theoretical frameworks for efficient state representation; and "A grid-based approach to formation reconfiguration for robots with non-holonomic constraints" (European Journal of Control 2012), bridging theoretical control with practical robot constraints.