Xianlin Zeng (曾宪琳)(曾宪琳)

Ph.D. • Professor博士 • 教授

State Key Laboratory of Autonomous Intelligent Unmanned Systems
School of Automation, Beijing Institute of Technology, 100081 Beijing, China
📧 xianlin.zeng@bit.edu.cn 自主智能无人系统全国重点实验室
北京理工大学 自动化学院，北京 100081
📧 xianlin.zeng@bit.edu.cn
🎓 Google Scholar🎓 谷歌学术 📄 Full Publication List📄 完整论文列表

About个人简介

I am a Professor at the School of Automation, Beijing Institute of Technology, affiliated with the National Key Laboratory of Autonomous Intelligent Unmanned Systems. My research interests span distributed optimization, noncooperative game theory, and intelligent planning & decision-making for autonomous unmanned systems.

I received my Ph.D. in Mechanical Engineering from Texas Tech University (USA, 2015) and previously held postdoctoral positions at the Academy of Mathematics and Systems Science of the Chinese Academy of Sciences and Beijing Institute of Technology.

我是北京理工大学自动化学院教授，隶属于自主智能无人系统全国重点实验室。主要研究方向包括分布式优化、非合作博弈理论以及自主无人系统的智能规划与决策。

2015年在美国德克萨斯理工大学获得机械工程博士学位，先后在中国科学院数学与系统科学研究院和北京理工大学从事博士后研究。

🏛 Current Funding🏛 在研项目
  • NSFC International (Regional) Cooperation and Exchange Program — Distributed Optimization and Intelligent Decision-Making for Multi-Agent Cooperative Exploration in Complex Open Environments (2026–2030, Co-PI)
  • 国家自然科学基金国际(地区)合作与交流项目 — 复杂开放环境下多智能体协同探索的分布式优化与智能决策（2026–2030，子课题负责人）
  • NSFC General Program — Distributed Stochastic Projection-Free Optimization for Multi-Agent Systems with High-Dimensional Structured Constraints (2027–2030, PI)
  • 国家自然科学基金面上项目 — 高维结构化约束下多智能体系统的分布式随机无投影优化（2027–2030，负责人）

Education & Career教育与工作经历

2019 – present

Associate Professor → Professor, School of Automation, Beijing Institute of Technology

2017 – 2019

Postdoctoral Researcher, School of Automation, Beijing Institute of Technology

2015 – 2017

Postdoctoral Researcher, Academy of Mathematics and Systems Science, Chinese Academy of Sciences

2011 – 2015

Ph.D. in Mechanical Engineering, Texas Tech University, Lubbock, USA

2009 – 2011

M.Sc. in Control Science and Engineering, Harbin Institute of Technology

2005 – 2009

B.Sc. in Automation, Harbin Institute of Technology

2019 – 至今

副教授 → 教授，北京理工大学自动化学院

2017 – 2019

博士后，北京理工大学自动化学院

2015 – 2017

博士后，中国科学院数学与系统科学研究院

2011 – 2015

博士，机械工程，美国德克萨斯理工大学

2009 – 2011

硕士，控制科学与工程，哈尔滨工业大学

2005 – 2009

本科，自动化，哈尔滨工业大学

Research Interests研究方向

🔬 Distributed Optimization & Computation

  • Distributed stochastic optimization (projection-free, variance-reduced, zeroth-order methods)
  • Distributed nonsmooth and nonconvex optimization over networks
  • Continuous-time dynamical optimization algorithms with convergence rate analysis
  • Distributed solutions to matrix equations (Lyapunov, Riccati, SDP)
  • Time-varying and online optimization with prediction-correction strategies

🎯 Game Theory & Multi-Agent Decision Making

  • Generalized Nash equilibrium seeking in nonsmooth multi-cluster games
  • Algorithms for extensive-form games and adversarial decision-making
  • Saddle-point problems and primal-dual accelerated methods
  • Pursuit-evasion games and cooperative strategies

🤖 Intelligent Planning & Control for Unmanned Systems

  • Motion planning for autonomous vehicles (MPC-based, optimization-based)
  • Multi-robot cooperative task & path planning
  • AI planning for decision-making under uncertainty and adversarial environments
  • Cooperative shape estimation and formation control

📘 Textbooks & Monographs

  • X. Zeng, Y. Hong, H. Fang. Distributed Nonsmooth Optimization and Control of Multi-Agent Systems (多智能体系统的分布式非光滑优化控制). Beijing Institute of Technology Press, 2023.
  • H. Fang, X. Zeng, Q. Yang, J. Chen. Autonomous Intelligent Unmanned Systems (自主智能无人系统). Tsinghua University Press, 2024.
  • H. Fang, Q. Yang, X. Zeng, J. Chen. Collaborative Control and Optimization of Autonomous Unmanned Systems (自主无人系统协同控制与优化). China Science Publishing & Media Ltd., 2026.

🔬 分布式优化与计算

  • 分布式随机优化（无投影、方差缩减、零阶方法）
  • 网络上的分布式非光滑与非凸优化
  • 连续时间动态优化算法及收敛速率分析
  • 矩阵方程的分布式求解（Lyapunov、Riccati、SDP）
  • 时变与在线优化的预测-校正策略

🎯 博弈论与多智能体决策

  • 非光滑多集群博弈中的广义Nash均衡求解
  • 扩展式博弈及对抗决策算法
  • 鞍点问题与原始-对偶加速方法
  • 追逃博弈与协同策略

🤖 无人系统的智能规划与控制

  • 自主车辆运动规划（基于MPC、基于优化）
  • 多机器人协同任务与路径规划
  • 不确定性与对抗环境下的AI决策规划
  • 协同形态估计与编队控制

📘 教材与专著

  • 曾宪琳，洪奕光，方浩. 《多智能体系统的分布式非光滑优化控制》. 北京理工大学出版社，2023.
  • 方浩，曾宪琳，杨庆凯，陈杰. 《自主智能无人系统》. 清华大学出版社，2024.
  • 方浩，杨庆凯，曾宪琳，陈杰. 《自主无人系统协同控制与优化》. 科学出版社，2026.

Selected Publications代表性论文

A curated selection organized by research theme. For the complete list, see full publication page or Google Scholar. 按研究主题精选部分论文。完整列表请参阅论文全集或谷歌学术。

Distributed Stochastic & Projection-Free Optimization分布式随机与无投影优化

  1. J. Hou, X. Zeng*, S. Cui, J. Sun. "Distributed Stochastic Frank-Wolfe for Constrained Composite Minimization." IEEE Trans. Automatic Control, DOI: 10.1109/TAC.2025.3581321, 2025.
  2. X. Jiang, X. Zeng*, L. Xie, J. Sun, J. Chen. "Distributed Stochastic Projection-Free Algorithm for Constrained Optimization." IEEE Trans. Automatic Control, vol. 70, no. 4, Apr. 2025.
  3. X. Jiang, X. Zeng*, L. Xie, J. Sun, J. Chen. "Variance-Reduced Reshuffling Gradient Descent for Non-Convex Optimization: Centralized and Distributed Algorithms." Automatica, vol. 171, Jan. 2025.
  4. J. Hou, X. Zeng*, G. Wang, C. Chen, J. Sun. "Distributed Frank-Wolfe Solver for Stochastic Optimization with Coupled Inequality Constraints." IEEE Trans. Neural Networks and Learning Systems, vol. 36, no. 5, May 2025.
  5. J. Hou, X. Zeng*, G. Wang, J. Sun, J. Chen. "Distributed Momentum-Based Frank-Wolfe Algorithm for Stochastic Optimization." IEEE/CAA Journal of Automatica Sinica, vol. 10, no. 3, pp. 685–699, Mar. 2023.

Time-Varying & Online Optimization时变与在线优化

  1. Z. Lin, J. Hou*, X. Zeng. "Optimal Prediction-Correction Algorithm Using Sparse Linear Extrapolation for Time-Varying Optimization." IEEE Trans. Signal Processing, vol. 74, pp. 2564-2578, 2026.
  2. Z. Lin, X. Zeng, J. Hou*, Jian Sun, Jie Chen. "Primal-Dual Prediction-Correction Method with Tunable Memory for Linearly Constrained Time-Varying Convex Optimization." J. Syst. Sci. Complex., vol. 39, no. 2, pp. 483-510, 2026.

Continuous-Time & Accelerated Distributed Optimization连续时间与加速分布式优化

  1. W. Li, X. Zeng, L. Pavel*. "Primal-Dual Accelerated Mirror-Descent Method for Constrained Bilinear Saddle-Point Problems." IEEE Trans. Automatic Control, Feb. 2026.
  2. X. Zeng, J. Lei*, J. Chen. "Dynamical Primal-Dual Nesterov Accelerated Method with Applications to Network Optimization." IEEE Trans. Automatic Control, vol. 68, no. 3, Mar. 2023.
  3. C. Wu, H. Fang, Q. Yang*, X. Zeng, J. Chen. "Distributed Continuous-Time Algorithm for Time-Varying Optimization with Affine Formation Constraints." IEEE Trans. Automatic Control, vol. 68, no. 4, pp. 2615–2622, Apr. 2023.
  4. X. Zeng, P. Yi, Y. Hong, L. Xie. "Distributed Continuous-Time Algorithms for Nonsmooth Extended Monotropic Optimization." SIAM Journal on Control and Optimization, vol. 56, no. 6, pp. 3973–3993, 2018.
  5. X. Zeng, P. Yi, Y. Hong. "Distributed continuous-time algorithm for constrained convex optimizations via nonsmooth analysis approach." IEEE Trans. Automatic Control, vol. 62, no. 10, pp. 5227–5233, 2016.
  6. Y. Wei, H. Fang, X. Zeng, J. Chen, P. Pardalos. "A Smooth Double Proximal Primal-Dual Algorithm for a Class of Distributed Nonsmooth Optimization Problem." IEEE Trans. Automatic Control, vol. 65, no. 4, pp. 1800–1806, 2020.
  7. Y. Wei, C. Shang, H. Fang*, X. Zeng, L. Dou, P. Pardalos. "Solving A Class of Nonsmooth Resource Allocation Problems with Directed Graphs through Distributed Smooth Multi-Proximal Algorithms." Automatica, vol. 136, Feb. 2022, 110071.

Distributed Matrix Equations & Networked Computation分布式矩阵方程与网络化计算

  1. X. Jiang, X. Zeng, J. Sun*, J. Chen. "Distributed synchronous and asynchronous algorithms for semi-definite programming with diagonal constraints." IEEE Trans. Automatic Control, vol. 68, no. 2, pp. 1007–1022, Feb. 2023.
  2. X. Zeng, J. Chen, Y. Hong. "Distributed Optimization Design of Iterative Refinement Technique for Algebraic Riccati Equations." IEEE Trans. Systems, Man, and Cybernetics: Systems, DOI: 10.1109/TSMC.2021.3056871, 2022.
  3. X. Zeng, J. Chen, J. Sun, Y. Hong. "Distributed Optimization Approach for Solving Continuous-Time Lyapunov Equations with Exponential Rate of Convergence." IEEE Trans. Systems, Man, and Cybernetics: Systems, vol. 52, no. 3, pp. 1684–1691, 2022.
  4. X. Zeng, J. Chen, Y. Hong. "Distributed Optimization Design for Computation of Algebraic Riccati Inequalities." IEEE Trans. Cybernetics, vol. 52, no. 3, pp. 1924–1935, 2022.
  5. W. Li, W. Deng*, X. Zeng, Y. Hong. "Distributed solver for linear matrix inequalities: an optimization perspective." Control Theory and Technology, 2021. https://doi.org/10.1007/s11768-021-00061-z

Game Theory & Multi-Agent Decision Making博弈论与多智能体决策

  1. X. Zeng, J. Chen, S. Liang, Y. Hong. "Generalized Nash Equilibrium Seeking Strategy for Distributed Nonsmooth Multi-Cluster Game." Automatica, vol. 103, pp. 20–26, 2019.
  2. K. Zhu, X. Zeng, H. Fang, Y. Hong. "Last-Iterate Convergence to an Approximate Nash Equilibrium in Extensive-Form Games with Bandit Feedback and Variance Reduction." J Syst Sci Complex, 2019.

Motion Planning, Cooperative Control & Autonomous Systems运动规划、协同控制与自主系统

  1. Z. Cheng, X. Zeng*, H. Fang. "Opportunistic Platoon Formation for Multi-Lane Highway On-Ramp Merging Considering Individual Rationality." IEEE Transactions on Vehicular Technology, accepted, Aug. 2026.
  2. Z. Cheng, X. Zeng*, H. Fang, G. Wang, L. Dou. "Hierarchical MPC-based Motion Planning for Autonomous Driving in Unstructured Environments." Unmanned Systems, accepted, Mar. 2023. (Best Paper Award 2026)
  3. C. Wu, H. Fang, Q. Yang*, X. Zeng, J. Chen. "Distributed Cooperative Control of Redundant Mobile Manipulators with Safety Constraints." IEEE Trans. Cybernetics, vol. 53, no. 2, pp. 1195–1207, 2023.

Survey综述

  1. X. Jiang, X. Zeng, J. Sun*, J. Chen. "Distributed Optimization for Multi-Agent Systems: A Survey and Perspectives" (多智能体系统分布式优化综述与前瞻). Science China Information Sciences (中国科学：信息科学), Nov. 2025. https://www.sciengine.com/doi/10.1360/SSI-2025-0337
  2. X. Jiang, X. Zeng, J. Sun*, J. Chen. "Research status and prospect of distributed optimization for multiple aircraft." Acta Aeronautica et Astronautica Sinica, vol. 42, no. 4, 523551, 2021. (in Chinese)
  3. J. Chen, H. Fang*, X. Zeng. "面向高危行业的无人平台智能化发展" (Intelligent Development of Unmanned Platforms for High-Risk Industries). 中国科学: 信息科学, vol. 51, no. 9, pp. 1397–1410, 2021.
  4. W. Deng, W. Li, X. Zeng*, Y. Hong. "矩阵方程的分布式求解算法研究概述." 控制理论与应用, vol. 38, no. 11, pp. 1695–1706, 2021.

Early Work on Cyber-Physical Systems网络物理系统早期工作

  1. X. Zeng, Q. Hui. "Energy-Event-Triggered Hybrid Supervisory Control for Cyber-Physical Network Systems." IEEE Trans. Automatic Control, vol. 60, no. 11, pp. 3083–3088, 2015.
  2. X. Zeng, Z. Liu, Q. Hui. "Energy Equipartition Stabilization and Cascading Resilience Optimization for Geospatially Distributed Cyber-Physical Network Systems." IEEE Trans. Systems, Man, and Cybernetics: Systems, vol. 45, no. 1, pp. 25–43, 2015.

Teaching教学

2025–now Intelligent Coordination of Multi-Robot Systems (Undergrad)
2025–至今 多机器人系统智能协同 （本科生）
2025–now Fundamentals of Autonomous Intelligent Unmanned Systems (Graduate)
2025–至今 自主智能无人系统基础 （研究生）
2023–now Scientific Writing and Communication (Undergrad)
2023–至今 科技写作与交流 （本科生）
2023–now Fundamentals of Swarm Intelligence and Adversarial Games (Graduate) — AI-Empowered Course
2023–至今 群体智能与博弈对抗基础 （研究生） — AI赋能课程
2021–2024 Fundamentals of Intelligent Control (Undergrad)
2021–2024 智能控制基础 （本科生）
2020–2022 Optimization Theory and Methods (Graduate)
2020–2022 最优化理论与方法 （研究生）

Current Graduate Students在读研究生

Ph.D. Students博士生 9

Kui Zhu
Algorithms for noncooperative games
朱奎
非合作博弈算法
Zijun Cheng
Planning & control of autonomous robots
成子君
自主机器人规划与控制
Azhushima
Distributed optimization for multiple robots
阿珠史玛
多机器人分布式优化
Yuman He
Algorithms for noncooperative games
何雨蔓
非合作博弈算法
Yuliang Wang
Task & path planning of robots
王玉梁
机器人任务与路径规划
Yuhui Huang
TBA (2025–)
黄宇辉
待定 (2025–)
Xin Yu
TBA (2025–)
余鑫
待定 (2025–)
Qinglong Zhang
TBA (2025–)
张庆龙
待定 (2025–)
Zhong Zhuang
TBA (2026–)
庄重
待定 (2026–)

Master Students硕士生 M.Sc.学硕 M.Eng.专硕

Kairui Guo M.Sc.
TBA
郭凯瑞 学硕
待定
Jiarui Liang M.Eng.
LLM command and control
梁家瑞 专硕
语义指挥控制
Zhonghao Lin M.Eng.
Time-varying optimization
林仲豪 专硕
时变优化
Dongxiang Liu M.Eng.
Motion planning of vehicles
刘冬翔 专硕
车辆运动规划
Zelin Li M.Eng.
Task planning of robots
李泽林 专硕
机器人任务规划
Jiahui Chen M.Eng.
Path planning of robots
陈嘉辉 专硕
机器人路径规划
Sunhan Zhou M.Eng.
TBA
周孙涵 专硕
待定
Ke Jia M.Eng.
TBA
贾珂 专硕
待定
Tong Huang M.Eng.
TBA
黄彤 专硕
待定
Xu Zhang M.Sc.
TBA (2026–)
张旭 学硕
待定 (2026–)
Wenhui Lu M.Sc.
TBA (2026–)
路文慧 学硕
待定 (2026–)
Yuzhen Huang M.Eng.
TBA (2026–)
黄钰祯 专硕
待定 (2026–)

Student Alumni毕业学生

2020–2025 Jie Hou Ph.D. Distributed projection-free methods for constrained stochastic optimization
2020–2025 侯洁 博士 有约束随机优化的分布式无投影求解方法
2023–2026 Luying Chen M.Sc. Research on Attack-Defense Game Strategy under Limited Resource Constraints
2023–2026 陈璐颖 学硕 有限资源约束下的攻防博弈策略研究
2023–2026 Chongyao Li M.Eng. Resource Allocation Strategies in Attack-Defense Confrontation of Unmanned Combat Swarm Systems
2023–2026 李崇垚 专硕 集群无人作战系统攻防对抗中的资源分配策略研究
2022–2025 Yixuan Li M.Sc. Cooperative Pursuit Strategy Based on Intelligent Adversarial Game Theory
2022–2025 李逸萱 学硕 基于智能博弈对抗的合作追捕策略
2022–2025 Xuanming Zhang M.Sc. Multimodal Vehicle Trajectory Prediction and Motion Planning Methods Based on Behavioral Game Theory
2022–2025 张轩铭 学硕 基于行为博弈论的车辆多模态轨迹预测和运动规划方法
2021–2024 Lan Wang M.Sc. Interpretable Vehicle Intention Prediction Methods and Trajectory Forecasting Methods
2021–2024 王兰 学硕 可解释的车辆意图预测和轨迹预测方法
2021–2024 Yanyan Fang M.Eng. Multimodal Trajectory Prediction and Planning Methods for Mixed Traffic Flows in Urban Environments
2021–2024 房妍妍 专硕 城市环境下的混合车流多模态轨迹预测及规划方法
2020–2023 Zijun Cheng M.Eng. Optimization-based motion planning algorithm for multiple vehicles
2020–2023 成子君 专硕 基于优化的多车协同自动驾驶运动规划算法
2020–2023 Kai Wang M.Eng. Rule-Based Interpretable Intention Recognition and Trajectory Prediction of Surrounding Vehicles
2020–2023 王凯 专硕 基于规则可解释的周车意图识别与轨迹预测
2019–2022 Jiebang Xing M.Sc. Research on pursuit­ evasion games based on deep reinforcement learning
2019–2022 邢介邦 学硕 基于深度强化学习的追逃博弈研究
2019–2022 Junchao Zhang M.Eng. Pursuing Strategy Generation Method Based on Model-free Reinforcement Learning
2019–2022 张俊超 专硕 基于无模型强化学习的追捕策略生成方法