Selected papers: see the full list in 
* denotes corresponding author(s)
Journal Publications
[J16] W. Wang*, D. Fernandez-Gutierrez, R. Doornbusch, J. Jordan, T. Shan, P. Leoni, N. Hagemann, J. Schiphorst, F. Duarte, C. Ratti, and D. Rus, Roboat III: An Autonomous Surface Vessel for Urban Transportation, Journal of Field Robotics, vol. 40, no. 8, 2023. (Selected as Cover Image).
[J15] Y. Qiao*, J. Yin, W. Wang*, F. Duarte, D. Wang, J. Yang, and C. Ratti, Survey of Deep Learning for Autonomous Surface Vehicles in Marine Environments, IEEE Transactions on Intelligent Transportation Systems, vol. 24, no. 4, pp. 3678-3701, April 2023.
[J14] H. Zhang, W. Wang*, C. Wang, and G Xie*, Development of an underwater networking system using bio-inspired electrocommunication, Bioinspiration & Biomimetics, 17 066001, 2022.
[J13] Y. Zhou, W. Wang*, H. Zhang, L. Li, C. Wang, G. Xu, and G. Xie*, Underwater Robot Formation using Electrocommunication, Bioinspiration & Biomimetics, 17 056005, 2022.
[J12] X. Zheng, W. Wang, L. Li, and G. Xie*, Artificial lateral line based relative state estimation between an upstream oscillating fin and a downstream robotic fish, Bioinspiration & Biomimetics, 16 016012, 2021.
[J11] X. Zheng*, W. Wang*, M. Xiong, and G. Xie*, Online State Estimation of a Fin-Actuated Underwater Robot Using Artificial Lateral Line System, IEEE Transactions on Robotics, 36(2): 472-487, 2020.
[J10] R. Tian, L. Li*, W. Wang, X. Chang, S. Ravi, and G. Xie, CFD based Parameter Tuning for Motion Control of Robotic Fish, Bioinspiration & Biomimetics, 15, 026008, 2020.
[J9] R. Ma*, W. Wang, F. Zhang*, K. Shim, and C. Ratti, Urban Typeface Reveals Spatial Economical Patterns, Scientific Reports, 9, 15946, DOI:10.1038/s41598-019-52423-y, 2019.
[J8] Y. Chen, W. Wang*, L. Li, R. Kelly, and G. Xie, Obstacle effects on electrocommunication with applications to object detection of underwater robots, Bioinspiration & Biomimetics, vol. 14, p. 056011, 2019-01-01, 2019.
[J7] L. Li*, A. Liu, W. Wang, S. Ravi, R. Fu, J. Yu, and G. Xie, Bottom-level motion control for robotic fish to swim in groups: modeling and experiments, Bioinspiration & Biomimetics, 14, 046001, 2019.
[J6] W. Wang, D. Gu, and G. Xie*, Autonomous Optimization of Swimming Gait in a Fish Robot with Multiple Onboard Sensors, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49(5): 891-903, May 2019.
[J5] W. Wang, X. Dai, L. Li, B. Gheneti, Y. Ding, J. Yu, and G. Xie*, Three-Dimensional Modeling of a Fin-Actuated Robotic Fish with Multimodal Swimming, IEEE Transactions on Mechatronics, 23(4): 1641-1652, 2018.
[J4] W. Wang, J. Liu, G. Xie*, L. Wen, and J. Zhang, A Bio-inspired Electrocommunication System for Small Underwater Robots, Bioinspiration & Biomimetics, 12, 036002, 2017.
[J3] L. Li, J. Lv, C. Wang, W. Wang, X. Zhang, and G. Xie*, Application of Taguchi Method in the Optimization of Swimming Capability for Robotic Fish, International Journal of Advanced Robotic Systems, DIO: 10.5772/64039, 13(102), 2016.
[J2] W. Wang, and G. Xie*, Online High-Precision Probabilistic Localization of Robotic Fish Using Visual and Inertial Cues, IEEE Transactions on Industrial Electronics, 62(2): 1113-1124, 2015.
[J1] W. Wang, and G. Xie*, CPG-based Locomotion Controller Design for a Boxfish-like Robot, International Journal of Advanced Robotic Systems, DIO: 10.5772/58564, 11(87), 2014.
Conference Publications
[C26] W. Wang*, X. Cao, A. Gonzalez-Garcia, L. Yin, N. Hagemann, Y. Qiao, C. Ratti, and D. Rus, Deep Reinforcement Learning Based Tracking Control of an Autonomous Surface Vessel in Natural Waters, The IEEE International Conference on Robotics and Automation (ICRA), pp. 3109-3115, 2023.
[C25] A. Zhao*, T. Du, J. Xu, J. Hughes, J. Salazar, P. Ma, W. Wang, D. Rus, and W. Matusik, Automatic Co-Design of Aerial Robots Using a Graph Grammar, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11260-11267, 2022.
[C24] A. Zhao*, J. Xu, J. Salazar, W. Wang, P. Ma, D. Rus, and W. Matusik, Graph Grammar-based Automatic Design for Heterogeneous Fleets of Underwater Robots, The IEEE International Conference on Robotics and Automation (ICRA), pp. 3143-3149, 2022.
[C23] D. Fernandez-Gutierrez*, N. Hagemann, W. Wang, R. Doornbusch, J. Jordan, J. Schiphorst, P. Leoni, F. Duarte, C. Ratti, and D. Rus, Design of an Autonomous Latching System for Surface Vessels, The IEEE International Conference on Robotics and Automation (ICRA), pp. 1099-1105, 2022.
[C22] W. Wang*, N. Hagemann, C. Ratti, and D. Rus, Adaptive Nonlinear Model Predictive Control for Autonomous Surface Vessels with Largely Varying Payload, The IEEE International Conference on Robotics and Automation (ICRA), pp. 7337-7343, 2021.
[C21] T. Shan*, W. Wang, B. Englot, C. Ratti, and D. Rus, A Receding Horizon Multi-Objective Planner for Unmanned Surface Vehicles in Urban Waterways, The IEEE Conference on Decision and Control (CDC), pp. 4085-4092, 2020.
[C20] W. Wang*, Z. Wang, L. Mateos, K. Huang, C. Ratti, M. Schwager, and D. Rus, Distributed Motion Control for Multiple Connected Surface Vessels, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11658-11665, 2020.
[C19] W. Wang*, T. Shan, P. Leoni, D. Fernandez-Gutierrez, D. Meyers, C. Ratti, and D. Rus, Roboat II: A Novel Autonomous Surface Vessel for Urban Environments, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1740-1747, 2020.
[C18] T. Shan*, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus, LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5135-5142, 2020.
[C17] Q. Wang, R. Liu, W. Wang*, G. Xie, A New Electrocommunication System Using FSK Modulation and Deep Learning Based Demodulation for Underwater Robots, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1699-1704, 2020.
[C16] W. Wang*, B. Gheneti, L. Mateos, F. Duarte, C. Ratti, and D. Rus, Roboat: An Autonomous Surface Vehicle for Urban Waterways, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6340-6347, 2019.
[C15] L. Mateos*, W. Wang, B. Gheneti, F. Duarte, C. Ratti, and D. Rus, Autonomous Latching System for Robotic Boats, The IEEE International Conference on Robotics and Automation (ICRA), pp. 7933-7939, 2019.
[C14] W. Wang*, L. Mateos, S. Park, P. Leoni, B. Gheneti, F. Duarte, C. Ratti, and D. Rus, Design, Modeling, and Nonlinear Model Predictive Tracking Control of a Novel Autonomous Surface Vehicle, The IEEE International Conference on Robotics and Automation (ICRA), pp. 6189-6196, 2018.
[C13] H. Zhang, W. Wang*, Y. Zhou, C. Wang, R. Fan, and G. Xie, CSMA/CA-based Electrocommunication System Design for Underwater Robot Groups, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2415-2420, 2017.
[C12] H. Zhang, W. Wang*, Y. Qu, C. Wang, R. Fan, and G. Xie, Model Identification for the Yaw Motion of a Tail-Actuated Robotic Fish, The IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 313-318, 2016.
[C11] Y. Zhou, W. Wang*, H. Deng, C. Wang, R. Fan, W. Luo, and G. Xie, Communication distance correlates positively with emitter current in underwater electric current communication, The 35th Chinese Control Conference (CCC), pp. 6397-6402, 2016.
[C10] X. Zheng, W. Wang, C. Wang, R. Fan, and G. Xie*, An Introduction of Vision-Based Autonomous Robotic Fish Competition, The 12th World Congress on Intelligent Control and Automation (WCICA), pp. 2561-2566, 2016.
[C9] W. Wang, Y. Li, X. Zhang, C. Wang, S. Chen, and G. Xie*, Speed Evaluation of a Freely Swimming Robotic Fish with an Artificial Lateral Line, The IEEE International Conference on Robotics and Automation (ICRA), pp. 4737-4742, 2016.
[C8] W. Wang, X. Zhang, J. Zhao, and G. Xie*, Sensing the Neighboring Robot by the Artificial Lateral Line of a Bio-inspired Robotic Fish, The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1565-1570, 2015.
[C7] W. Wang, J. Zhao, W. Xiong, F. Cao, and G. Xie*, Underwater Electric Current Communication of Robotic Fish: Design and Experimental Results, The IEEE International Conference on Robotics and Automation (ICRA), pp. 1166-1171, 2015.
[C6] C. Wang, W. Wang, and G. Xie*, Speed Estimation for Robotic Fish Using Artificial Lateral Line and Inertial Measurement Unit, The IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 285-290, 2015.
[C5] W. Wang, H. Deng, J. Zhao, and G. Xie*, Electrode Size Affects Underwater Electric Current Communication between Two Fish Models, The 34th Chinese Control Conference (CCC), pp. 6020-6025, 2015.
[C4] W. Wang, and G. Xie*, An Adaptive and Online Underwater Image Processing Algorithm Implemented on Miniature Biomimetic Robotic Fish, The 19th World Congress of the International Federation of Automatic Control (IFAC), pp. 7598-7603, 2014.
[C3] W. Wang, G. Xie*, and H. Shi, Dynamic Modeling of an Ostraciiform Robotic Fish Based on Angle of Attack Theory, The IEEE World Congress on Computational Intelligence (WCCI), pp. 3944-3949, 2014.
[C2] J. Zhang, W. Wang, G. Xie*, and H. Shi, Camera-IMU-based Underwater Localization, The 33rd Chinese Control Conference (CCC), pp. 8589-8594, 2014.
[C1] W. Wang, J. Guo, Z. Wang, and G. Xie*, Neural Controller for Swimming Modes and Gait Transition on an Ostraciiform Fish Robot, The IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1564-1569, 2013.
Thesis
W. Wang, Intelligent control, bioinspired sensing, electrocommunication, and self-localization of boxfish robot (In Chinese). PhD Thesis, Peking University, July 2016.
Invention Disclosures:
[I1] C. Ratti, D. Rus, S. Dijk, and W. Wang, Distributed Self-Assembly for Floating Robots, disclosed to MIT TLO on Oct. 10th, 2020, M.I.T. Case No. 22856.
[I2] F. Duarte, D. Gutierrez, N. Hagemann, P. Leoni, D. Meyers, C. Ratti, D. Rus, S. Dijk, W. Wang, A. Whittle and Q. Zheng, Roboat: Floating Platform for Low-Speed Operations in Urban Environments with Restricted Waters, M.I.T. Case No. 24126JC
Software Disclosures:
[S1] W. Wang, D. Fernández-Gutiérrez, J. Jordan, R. Doornbusch, J. Schiphorst, D. Rus, C. Ratti, S. Dijk, Autonomous Driving Package for Full-scale Roboat, submitted to MIT TLO on Dec. 10th, 2021, M.I.T. Case No. 23926J.