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Heng Wang,Tengfei Zhang,Xiaoyu Zhang.Observer-based path tracking controller design for autonomous ground vehicles with input saturation.IEEE/CAA J. Autom. Sinica,2023,10(3):749-761.

Tengfei Zhang,Hui Zhao,Weiwei Che.Adaptive fixed-time path tracking control for autonomous vehicles subject to full state constraints and unknown tire cornering stiffness.IEEE Transactions on Intelligent Transportation Systems,2025,

Heng Wang,Xinyu Zhao,Shoudong Huang,Yiyang Liu.A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems.Automatica,2024,111654.

Wang Heng, Song Wenwen, Liang Yongyu, Li Qing, Liang Deyu. Observer-based finite frequency H∞ state-feedback control for autonomous ground vehicles. ISA Transactions, 121: 75-85, 2022..

Wang Heng, Zhou Feng, Li Qing, Song Wenwen. Reliable adaptive H∞ path following control for autonomous ground vehicles in finite frequency domain. Journal of the Franklin Institute. 357(14):9599-9613, 2020..

Wang Heng, Huang Shoudong, Yang Guanghong, Dissanayake Gamini. Comparison of two different objective functions in 2D point feature SLAM. Automatica, 97(11): 172-181, 2018. (Regular paper).

Wang Heng, Huang Shoudong, Khosoussi, Kasra, Frese, Udo, Dissanayake, Gamini, Liu, Bingbing, Dimensionality reduction for point feature SLAM problems with spherical covariance matrices, Automatica, 51(1): 149-157, 2015..

Wang Heng, Huang Shoudong, Frese Udo, Dissanayake Gamini, The structure of nonlinearity for point feature SLAM problems with spherical covariance matrices, Automatica, 49 (10): 3112-3119, 2013..

Wang Heng, Wang Bin, Liu Bingbing, Meng Xiaoli, Yang Guanghong. Pedestrian recognition and tracking using 3D LiDAR for autonomous vehicle. Robotics and Autonomous Systems, 88 :71-78, 2017..