在研项目：

1. "面向蛇形机器人步态生成的高效安全鲁棒强化学习方法研究”，国家自然科学基金委面上项目

2. “基于深度强化学习的可变形蛇形机器人的智能运动研究”,  天津市自然科学基金委青年科学基金项目

已完成项目：

1."基于蝮蛇视觉机理的蛇形机器人目标跟踪系统研究"，国家自然科学基金委青年科学基金项目61603200 

近五年期刊论文（部分论文）：

[1] Wei Huang , Yongchun Fang , Xian Guo , Huawang Liu ,and Lixing Liu. A Unified Motion Modeling Approach for Snake Robot’s Gaits Generated With Backbone Curve Method. IEEE TRANSACTIONS ON ROBOTICS, 2024,40:4132-4146.

[2] Lixing Liu*, Jiashun Liu*, Xian Guo,Wei Huang, Yongchun Fang, and Jianye Hao. Representation ReinforcementLearning-Based Dense Control for Point following With State Sparse Sensing of 3D Snake Robots.IEEE/ASME Transactions on Mechatronics. DOI: 10.1109/TMECH.2024.3465018, 2024

[3] Lixing Liu , Xian Guo , Wei Xi , WeiHuang , and Yongchun Fang，A Reinforcement Learning PathFollowing Strategy for Snake Robots Based on Transferable Constrained-ResidualGait Generator. IEEE Transactions on Industrial Electronics,2024,71(12):16013-16025.

[4] Fengwei Sheng, Fuxi Wan, Chaoquan Tang,Xian Guo. A Maneuverable Winding Gait for Snake Robots Based on a Delay-AwareSwing and Grasp Framework Combining Rules and Learning Methods, IEEE Roboticsand Automation Letters. 2025,10(1):311-318.

[5] Xiaojie Xu, Yunfan Wang, Xian Guo,Kuihua Huang, Xuebo Zhang. Multi-UAV air combat cooperative game based onvirtual opponent and value attention decomposition policy gradient. ExpertSystem with Applications. 2025,267:126069.

[6]W. Zhu, X.Guo, Y. Fang, and X. Zhang, A path-integral-based reinforcement Learningalgorithm for path following of an autoassembly mobile robot, IEEE Transactionson neural networks and learning systems. 2020, 31(11):4487-4499

[7] M. Zhao, X.Guo, X. Zhang, Y. Fang, Y. Ou, ASPW-DRL: assembly sequence planning forworkpieces via a deep reinforcement learning approach, Assembly Automation,2020,40(1):65-75

[8]仿生机器人运动步态控制：强化学习方法综述,智能系统学报，2020，15(1):152-159

[9]可重构模块化蛇形机器人研制及多运动模态研究，信息与控制，2020，49(1):69-77.

[10] X. Guo,W. Zhu, and Y. Fang, Guided motion planning for snake-like robots based ongeometry mechanics and HJB equation, IEEE Transactions on IndustrialElectronics, 2019, 66(9):7120-7130.

[11]方勇纯,朱威，郭宪.基于路径积分强化学习方法的蛇形机器人目标导向运动.模式识别与人工智能,2019,32(1):1-9.

[12] X. Guo, S.Ma, B. Li, and Y. Fang, A novel serpentine gait generation method forsnake-like robots based on Geometry Mechanics. IEEE/ASME Transactions onMechatronics, 2018, 23(3):1249-1258

部分会议论文：

[1]L. Liu, X. Guo, Y. Fang, Vision-based Path Following of Snake-likeRobots, ICRA2021 accepted

[2]X. Zhang, W. Xi, X. Guo, Y. Fang, B. Wang, W. Liu, J. Hao, RelationalNavigation Learning in Continuous Action Space among Crowds, ICRA2021 accepted

[3]X. Zhang, X. Guo, Y. Fang, W. Zhu, Reinforcement Learning-based HierarchicalControl for Path Following of a Salamander-like Robot, IROS2020.

[4]T. Li, J. Fan, X. Guo, M. Hao, M. Sun, Self-Tuning Attitude Control Design ofHypersonic Aircraft with Multi-Constraints Based on Soft-Constrained PI2 withAction Smooth, 2020 Chinese Automation Congress.

代表性著作：

[1] 郭宪，方勇纯， 深入浅出强化学习：原理入门， 电子工业出版社，2018.1.

[2] 郭宪，宋俊潇，方勇纯， 深入浅出强化学习：编程实战， 电子工业出版社，2020.3