Yongdong Wang

I am a Postdoctoral Fellow in the Department of Precision Engineering at The University of Tokyo (Apr 2023 - Present), working with Prof. Hajime Asama, Prof. Atsushi Yamashita, and Prof. Keiji Nagatani. I was a visiting researcher at the Computer Systems Laboratory, Cornell University (Oct 2024 - Nov 2024). I received my Ph.D. degree from the Graduate School of Interdisciplinary Science and Engineering in Health Systems at Okayama University in 2023, advised by Prof. Tetsushi Kamegawa and Prof. Akio Gofuku. During my doctoral studies, I served as a Research Associate at the Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University (Jun 2020 - Mar 2023). I received my M.S. degree from the Graduate School of Interdisciplinary Science and Engineering in Health Systems at Okayama University (2020).

My research interests include robotics, snake robots, construction robots, human-robot interaction, multi-agent embodied AI, large language models (LLMs), vision-language models (VLMs), and deep reinforcement learning.
Email: wangyongdong [AT] robot.t.u-tokyo.ac.jp / ORCID / Google Scholar / ResearchGate / ResearchMap
Yongdong Wang

News

[Aug 2025] Paper "A Human-in-the-Loop DAG Refinement Framework for LLM-Driven Multi-Robot Construction Task Planning" accepted to SWARM 2025 as lead and corresponding author.
[Jun 2025] Paper "MRS-CWC: A Weakly Constrained Multi-Robot System with Controllable Constraint Stiffness for Mobility and Navigation in Unknown 3D Rough Environments" accepted to IROS 2025.
[Jun 2025] Paper "Construction of a Dataset for i-Construction Robots Using Directed Acyclic Graph–Based Task Decomposition" accepted for i-Construction Symposium 2025 as lead and corresponding author.
[Feb 2025] Paper "Diversity-Aware Crowd Model for Robust Robot Navigation in Human Populated Environment" accepted to IEEE Robotics and Automation Letters (vol. 10, no. 6, pp. 6376-6383).
[Apr 2025] Paper "Online behavioral matching for proton exchange membrane water electrolyzers: A digital twin approach" published in Applied Energy.
[Jan 2025] Paper "ACRC-LLM: A Framework for Automated Construction Robotics Control Using Large Language Models" published in AROB-ISBC-SWARM 2025 as lead and corresponding author.
[Jan 2025] Paper "Robust frequency response-based active disturbance rejection control to mitigate thermoacoustic instability in the Rijke tube burner" published in Applied Energy (vol. 378, pp. 124779).
[Dec 2024] Paper "Group-Aware Robot Navigation in Crowds Using Spatio-Temporal Graph Attention Network With Deep Reinforcement Learning" accepted to IEEE Robotics and Automation Letters (vol. 10, no. 4, pp. 4140-4147).
[Nov 2024] Preprint "DART-LLM: Dependency-Aware Multi-Robot Task Decomposition and Execution using Large Language Models" available on arXiv.
[Nov 2024] Gave talk "Collaborative Multi-robot system" at The University of Sydney.
[Nov 2024] Gave talk "Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction" at Bond University.
[Oct 2024] Gave talk "An Introduction to CAFE Projects and Snake Robot Motion Control in Complex Environments" at Cornell University.
[Oct 2024] Started visiting researcher position at Computer Systems Laboratory, Cornell University.
[Sep 2024] Paper "Generation of security system defense strategies based on evolutionary game theory" published in Nuclear Engineering and Technology.
[Jul 2024] Paper "Fault-tolerant joint state feedback adaptive control for snake robots that move through random pole environments" published in Advanced Robotics (vol. 38, no. 13).
[May 2024] Paper "Enhancing process state monitoring in energy storage systems: A robust design synthesis with physics-informed generalized observer" published in Journal of Energy Storage.
[Apr 2023] Started position as Postdoctoral Fellow at The University of Tokyo, Department of Precision Engineering.

Publications

2025 • Conference Paper • Accepted Jun 30, 2025
MRS-CWC: A Weakly Constrained Multi-Robot System with Controllable Constraint Stiffness for Mobility and Navigation in Unknown 3D Rough Environments
Runze Xiao, Yongdong Wang, Yusuke Tsunoda, Koichi Osuka, Hajime Asama
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), Oct 2025 | [Project Page]
2025 • Journal Paper • Accepted Feb 22, 2025
Diversity-Aware Crowd Model for Robust Robot Navigation in Human Populated Environment
Jiaxu Wu, Yusheng Wang, Tong Chen, Jun Jiang, Yongdong Wang, Qi An, Atsushi Yamashita
IEEE Robotics and Automation Letters, vol. 10, no. 6, pp. 6376-6383, Jun 2025. DOI: 10.1109/LRA.2025.3568320 | [Project Page]
2025 • Conference Paper • First Author • Accepted Aug 3, 2025
A Human-in-the-Loop DAG Refinement Framework for LLM-Driven Multi-Robot Construction Task Planning
Yongdong Wang, Runze Xiao, Jun Younes, Louhi Kasahara, Shota Chikushi, Keiji Nagatani, Atsushi Yamashita, Hajime Asama
Proceedings of the 9th International Symposium on Swarm Behavior and Bio-Inspired Robotics 2025 (SWARM2025), Sep 2025
2025 • Conference Paper • First Author • Accepted Jun 12, 2025
Construction of a Dataset for i-Construction Robots Using Directed Acyclic Graph–Based Task Decomposition
Yongdong Wang, Runze Xiao, Jun Younes, Louhi Kasahara, Keiji Nagatani, Atsushi Yamashita, Hajime Asama
Proceedings of the i-Construction Symposium 2025, vol. 2025, pp. 137-140, Jul 2025. DOI: 10.11532/kensetsumanagement.2025.0_137
2025 • Journal Paper • Accepted Dec 25, 2024
Group-Aware Robot Navigation in Crowds Using Spatio-Temporal Graph Attention Network With Deep Reinforcement Learning
Xiaojun Lu, Angela Faragasso, Yongdong Wang, Atsushi Yamashita, Hajime Asama
IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 4140-4147, Apr 2025. DOI: 10.1109/LRA.2025.3549663
2025 • Journal Paper
Online behavioral matching for proton exchange membrane water electrolyzers: A digital twin approach
Shaojie Liu, YangQuan Chen, Yongdong Wang, Donghai Li, Min Zhu
Applied Energy, vol. 384, pp. 125375, Apr 2025. DOI: 10.1016/j.apenergy.2025.125375
2025 • Conference Paper
Digging Motion Planning for Excavators Considering Preparation Work during Loading Waiting Time
Yasutake Matsuta, Ryosuke Yajima, Yongdong Wang, Jun Younes Louhi Kasahara, Qi An, Atsushi Yamashita, Keiji Nagatani
Proceedings of the JSAI Type-II Research Group on Modeling and Application of Knowledge and Skills (SIG-MAKS), SIG-MAKS-002-03, pp. 1-6, Mar 2025. [PDF]
2025 • Conference Paper • First Author
ACRC-LLM: A Framework for Automated Construction Robotics Control Using Large Language Models
Yongdong Wang, Runze Xiao, Jun Kasahara, Younes Louhi, Keiji Nagatani, Atsushi Yamashita, Hajime Asama
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2025, pp. 486-490, Jan 2025
2025 • Journal Paper
Robust frequency response-based active disturbance rejection control to mitigate thermoacoustic instability in the Rijke tube burner
Shaojie Liu, Zhaohui Wang, Dong Yang, Yichen Wang, Yongdong Wang, Donghai Li, Min Zhu
Applied Energy, vol. 378, Part A, pp. 124779, Jan 2025. DOI: 10.1016/j.apenergy.2024.124779
2024 • Conference Paper
Industrial Anomaly Detection Focusing on Individual Anomalies
Kim Yongmin, Yongdong Wang, Ryosuke Yajima, Jun Younes, Louhi Kasahara, Keiji Nagatani, Hajime Asama, Qi An, Atsushi Yamashita
Proceedings of the 25th System Integration Division Annual Conference (SI2024), Dec 2024. [PDF]
2024 • Conference Paper
Digging Motion Planning for Excavators Considering Loading Wait Time
Yasutake Matsuta, Ryosuke Yajima, Yongdong Wang, Jun Younes, Louhi Kasahara, Keiji Nagatani, Qi An, Atsushi Yamashita
Proceedings of the 25th System Integration Division Annual Conference (SI2024), pp. 3553-3558, Dec 2024. [PDF]
2024 • Preprint • First Author
DART-LLM: Dependency-Aware Multi-Robot Task Decomposition and Execution using Large Language Models
Yongdong Wang, Runze Xiao, Jun Younes Louhi Kasahara, Ryosuke Yajima, Keiji Nagatani, Atsushi Yamashita, Hajime Asama
arXiv preprint arXiv:2411.09022, Nov 2024. URL: https://arxiv.org/abs/2411.09022 | [Project Page]
2024 • Journal Paper
Generation of security system defense strategies based on evolutionary game theory
Bowen Zou, Yongdong Wang, Chunqiang Liu, Mingguang Dai, Qianwen Du, Xiang Zhu
Nuclear Engineering and Technology, vol. 56, no. 9, pp. 3463-3471, Sep 2024. DOI: 10.1016/j.net.2024.03.043
2024 • Journal Paper • First Author
Fault-tolerant joint state feedback adaptive control for snake robots that move through random pole environments
Yongdong Wang, Yuya Shimizu, Jiaxu Wu, Yusheng Wang, Tetsushi Kamegawa, Akio Gofuku, Hajime Asama
Advanced Robotics, vol. 38, no. 13, pp. 880–895, Jul 2024. DOI: 10.1080/01691864.2024.2358424
2024 • Journal Paper
Enhancing process state monitoring in energy storage systems: A robust design synthesis with physics-informed generalized observer
Shaojie Liu, Zhiqiang Gao, YangQuan Chen, Yongdong Wang, Donghai Li, Min Zhu
Journal of Energy Storage, vol. 87, pp. 111391, May 2024. DOI: 10.1016/j.est.2024.111391
2024 • Conference Paper • First Author
Enhanced Decentralized Control for Obstacle-Navigating Snake Robots in Random Pole Environments
Yongdong Wang, Yuya Shimizu, Jiaxu Wu, Yusheng Wang, Tetsushi Kamegawa, Akio Gofuku, Hajime Asama
Proceedings of the 29th Robotics Symposia, Mar 2024
2023 • Doctoral Dissertation • First Author
Motion planning of a snake robot in crowded pipe environments
Yongdong Wang
Okayama University, Doctoral Dissertation (Ph.D. Thesis No. 6864), Mar 2023. DOI: 10.18926/65425 [PDF]
2023 • Journal Paper
Development of Automatic Inspection Systems for WRS2020 Plant Disaster Prevention Challenge Using Image Processing
Yuya Shimizu, Tetsushi Kamegawa, Yongdong Wang, Hajime Tamura, Taiga Teshima, Sota Nakano, Yuki Tada, Daiki Nakano, Yuichi Sasaki, Taiga Sekito, et al.
Journal of Robotics and Mechatronics, vol. 35, no. 1, pp. 65-73, Feb 2023. DOI: 10.20965/jrm.2023.p0065
2023 • Conference Paper • First Author
Joint states feedback adaptive control for snake robots that move on random poles environments
Yongdong Wang, Yuya Shimizu, Tetsushi Kamegawa, Akio Gofuku
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2023, pp. 1562-1567, Jan 2023
2022 • Journal Paper • First Author • Invited
Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method
Yongdong Wang, Tetsushi Kamegawa
Sensors, vol. 22, no. 22, pp. 9016, Nov 2022. DOI: 10.3390/s22229016
2022 • Journal Paper • First Author
Motion planning of a snake robot that moves in crowded pipes
Yongdong Wang, Tetsushi Kamegawa, Eriko Matsuda, Akio Gofuku
Advanced Robotics, vol. 36, no. 16, pp. 781–793, 2022. DOI: 10.1080/01691864.2022.2095225
2022 • Conference Paper • First Author
Hybrid Force-position Control Method for a Snake Robot Climbing in Crowded Pipes
Yongdong Wang, Tetsushi Kamegawa, Akio Gofuku
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2022, pp. 1756-1761, 2022
2022 • Conference Paper
Development of a snake robot manipulator and image processing application for the World Robot Summit 2020 Disaster Robotics Category: Plant Disaster Prevention Challenge
Hajime Tamura, Tetsushi Kamegawa, Yongdong Wang, Taiga Teshima, Sota Nakano, Yuki Tada, Daiki Nakano, Yuichi Sasaki, Taiga Sekito, Yuya Shimizu, et al.
Proceedings of the Joint Symposium of AROB-ISBC-SWARM2022, pp. 931-936, 2022
2021 • Conference Paper • First Author
Study on Propulsion of a Snake Robot with Torque Propagation Based on Modified Curvature Derivatives
Yongdong Wang, Tetsushi Kamegawa, Akio Gofuku
Proceedings of the 2021 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, pp. 663-668, 2021. DOI: 10.1109/ICMA52036.2021.9512737
2020 • Conference Paper • First Author
Proposal and demonstration of movement methods in crowded pipes environment using a snake robot
Yongdong Wang, Tetsushi Kamegawa, Eriko Matsuda, Akio Gofuku
Proceedings of the 21st Session of the Society of Instrument and Control Engineers, Systems Integration Division (SI2020), 2020
2020 • Master's Thesis • First Author
Proposal and Demonstration of S-shaped Traveling Wave Motion for Snake Robot in Crowded Pipes Environment
Yongdong Wang
Okayama University, Master's Thesis, 2020
2019 • Journal Paper • Invited
Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot
Tetsushi Kamegawa, Taichi Akiyama, Satoshi Sakai, Kento Fujii, Kazushi Une, Yongdong Wang, Yuto Matsumura, Toru Kishutani, Eiji Nose, Yusuke Yoshizaki, et al.
Advanced Robotics, vol. 34, no. 2, pp. 132-139, 2019. DOI: 10.1080/01691864.2019.1691941
2019 • Conference Paper • First Author
Proposal of locomotion of a snake robot in crowded pipes
Yongdong Wang, Tetsushi Kamegawa, Eriko Matsuda, Akio Gofuku
Proceedings of the JSME Annual Conference on Robotics and Mechatronics (Robomec), 2019
2017 • Undergraduate Thesis • First Author
Design of a Mandarin-Based Programming System Based on the C Language
Yongdong Wang
Undergraduate Thesis, 2017

Research Topics

[1] Snake Robotics Research (ヘビ型ロボットに関する研究): Motion planning and control for snake robots in crowded pipe environments, fault-tolerant adaptive control in random pole environments, and separable search-and-rescue robot development. Focus on hybrid force-position control methods and environmental adaptation strategies.
[2] Multi-Robot Systems and Construction Robotics Research (マルチロボットシステムと建設ロボティクスに関する研究): Large Language Model (LLM)-driven multi-robot coordination frameworks for construction automation, weakly constrained multi-robot systems for 3D rough environments, excavator motion planning, and industrial applications. Development of DART-LLM and ACRC-LLM systems for intelligent task decomposition, i-Construction dataset creation, and industrial anomaly detection systems.
[3] Crowd Navigation Research (群衆環境におけるロボットナビゲーションに関する研究): Robot navigation in human-populated environments using spatio-temporal graph attention networks, diversity-aware crowd models, and group-aware navigation strategies with deep reinforcement learning for social robotics applications.
[4] Energy Systems Control and Optimization Research (エネルギーシステムの制御と最適化に関する研究): Control and optimization of energy systems including proton exchange membrane water electrolyzers, energy storage systems monitoring, thermoacoustic instability control, and evolutionary game theory-based security defense strategies.

Awards

[Dec 2021] The "Chunhui Cup" Oversea Students Innovation and Entrepreneurship Competition, Championship Award, Ministry of Education of the People's Republic of China
[Oct 2021] Encouragement Award, World Robot Summit 2020, Disaster Robotics Category, Plant Disaster Prevention Challenge, Team Oshinobi
[Mar 2021] International Exchange Encouragement Award, Okayama Rotary Club
[Jun 2016] First Prize in the 7th Blue Bridge Cup National Software and Information Technology Professional Talent Provincial Competition
[May 2015] First Prize in North China Five Provinces University Students Robotics Competition
[May 2014] First Prize in North China Five Provinces University Students Robotics Competition

Service

Peer Reviewer:
• IEEE Robotics and Automation Letters (RA-L)
• Advanced Robotics
• Journal of Robotics and Mechatronics
• Artificial Life and Robotics
• The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• The IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
• International Conference on Ubiquitous Robots (UR)
• International Conference on Advanced Mechatronics
• International Symposium on System Integration (SII)
Social Activities:
[Apr 2025] AE: Global Summit on Open Problems for AI - Logistic support, Apr 9, 2025 - Apr 11, 2025
[Dec 2024] Reviewer, The 25th System Integration Division Annual Conference, The Society of Instrument and Control Engineers (SI2024), Dec 18, 2024 - Dec 20, 2024
[Nov 2024] Collaborative Multi-robot system (Talk), The University of Sydney, Nov 27, 2024
[Nov 2024] Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction (Talk), Bond University, Nov 25, 2024
[Oct 2024] An Introduction to CAFE Projects and Snake Robot Motion Control in Complex Environments (Talk), Cornell University, Oct 30, 2024
[Mar 2022] Science Castle 2021 Chugoku-Shikoku Conference - Consultant, Leave a Nest Co., Mar 20, 2022
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