Author

Gang Li

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Open access Oct 2026

Short-Term Temporal Transformer Deep Reinforcement Learning with Dynamic-Window-Constrained Actions for LiDAR-Based Local Navigation

Local navigation in dynamic indoor environments is challenging, as a single 2-D LiDAR scan contains no obstacle motion information, and control commands must satisfy the robot’s velocity and acceleration constraints. This paper proposes ST-DRL, a value-based local planner combining a lightweight temporal Transformer en...

Tian Tian, Guo-Fu Tian, Gang Li · Machines · 0 citations

Open access 2026

Evolutionary Game Theory-Driven Multi-Mode Control Coordination for Autonomous Vehicle Trajectory Tracking

Autonomous vehicles operating under highly dynamic conditions, such as high-speed cornering and varying road surfaces, face significant challenges in trajectory tracking owing to the highly nonlinear and time-varying nature of vehicle dynamics. This paper proposes an adaptive time-varying weighted cooperative control m...

Tian Tian, Guo-F. Tian, Gang Li · IEEE Access · 0 citations

Open access Aug 2026

Data-Driven State of Charge Estimation for Lithium-Ion Batteries Based on Polynomial Surface Fitting Under Dynamic Driving Cycles

Accurate state-of-charge (SOC) estimation is essential for battery management systems (BMSs) under dynamic operating conditions. This study proposes a lightweight data-driven SOC estimation framework based on a tensor-product bivariate polynomial surface. During offline model identification, the reference SOC and measu...

Peiyuan Cheng, Yu-Xin Tu, Gang Li · World Electric Vehicle Journ... · 0 citations

Open access Aug 2026

Online Parameter-Reconfigured Model Predictive Control for Integrated Trajectory Tracking of Distributed Four-Wheel Steering Vehicles

To overcome the limitations of conventional model predictive control (MPC) for trajectory tracking of distributed-drive four-wheel-steering (4WS) vehicles, particularly its fixed weighting matrices and prediction and control horizons, this study investigates the integrated trajectory tracking and stability control of a...

Hao Zhang, Gang Li, Jingxue Zhang et al. · World Electric Vehicle Journ... · 0 citations

Open access Sep 2026

Deep Learning-Based LiDAR Perception for Traffic Cone Detection in Autonomous Formula Student Electric Vehicles

Accurate and efficient environmental perception is essential for autonomous vehicles. For autonomous Formula Student electric vehicles, reliable 3D traffic-cone detection is critical for track-boundary reconstruction and downstream path planning. However, the small physical size of traffic cones, sparse long-range LiDA...

Hong-Yan Li, Gang Li, Xiao-Xiang Na · Vehicles · 0 citations

Aug 2026

Residual-Aided Adaptive State Estimation for Distributed Electric-Drive Vehicles

Accurate vehicle state estimation is essential for stability control and the active safety of distributed electric-drive vehicles, whereas lateral velocity and sideslip angle are difficult to measure directly using production-level sensors. This article proposes a residual-aided adaptive extended Kalman filter for mult...

Yu-Xin Tu, Gang Li, Peiyuan Cheng et al. · IEEE Sensors Journal · 0 citations