Zirui (Ray) Xu
I'm a Ph.D. candidate in Aerospace Engineering at University of Michigan,
advised by Vasileios Tzoumas. My goal is to realize scalable and reliable coordination in resource-constrained, unstructured, and untrustworthy environments, such as smart cities, environmental monitoring, and disaster response.
I develop and leverage tools of optimization, control, and robotics to provably enable self-(re)configurable coordination for fully distributed teams of vehicles, sensors, and aircraft.
In particular, my work investigates:
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Theories: Provably near-optimal tools for submodular optimization and online learning;
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Algorithms: Resource-aware coordination algorithms near-optimal performance and provably balances the trade-off of scalability and optimality in unstructured, untrustworthy, and even adversarial environments;
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Applications: Scalable real-world implementation of communication- and computation-intensive coordination tasks onboard resource-constrained hardware, such as active SLAM and target tracking using multiple UAVs.
Previously, I received an M.S. in Electrical & Computer Engineering from Georgia Tech in 2020
and a B.Eng. in Automation from Northeastern University (China) in 2018. I was also a Research Intern at Honda Research Institute in San Jose, CA for summer 2024.
email  / 
google scholar  / 
linkedin
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Recent News
Publications
Journal Papers
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Communication- and Computation-Efficient Distributed Submodular Optimization in Robot Mesh Networks
Zirui Xu*,
Sandilya Sai Garimella*,
Vasileios Tzoumas
under review, 2024.
arxiv / code
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Online and Robust Intermittent Motion Planning in Dynamic and Changing Environments
Zirui Xu,
George P. Kontoudis,
Kyriakos G. Vamvoudakis
IEEE Transactions on Neural Networks and Learning Systems (TNNLS), 2023.
paper / simulation video
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Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination
Zirui Xu,
Hongyu Zhou,
Vasileios Tzoumas
IEEE Robotics and Automation Letters (RA-L), 2023.
arxiv / code
Conference Papers
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Performance-Aware Self-Configurable Multi-Agent Networks: A Distributed Submodular Approach for Simultaneous Coordination and Network Design
Zirui Xu,
Vasileios Tzoumas
IEEE Conference on Decision and Control (CDC), 2024. Invited Paper.
arxiv / code / slides / presentation video
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Leveraging Untrustworthy Commands for Multi-Robot Coordination in Unpredictable Environments: A Bandit Submodular Maximization Approach
Zirui Xu*, Xiaofeng Lin*,
Vasileios Tzoumas
American Control Conference (ACC), 2024.
arxiv
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Resource-Aware Simulator for Decentralized Active Perception with Multiple Robots
Sandilya Sai Garimella,
Zirui Xu,
Vasileios Tzoumas
Workshop on Advances in Multi-Agent Learning - Coordination, Perception, and Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
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Efficient Online Learning with Memory via Frank-Wolfe Optimization: Algorithms with Bounded Dynamic Regret and Applications to Control
Hongyu Zhou,
Zirui Xu,
Vasileios Tzoumas
IEEE Conference on Decision and Control (CDC), 2023.
arxiv
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Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments
Zirui Xu, Xiaofeng Lin,
Vasileios Tzoumas
Robotics: Science and Systems (RSS), 2023.
arxiv / code / simulation videos / presentation
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Resource-Aware Distributed Submodular Maximization: A Paradigm for Multi-Robot Decision-Making
Zirui Xu,
Vasileios Tzoumas
IEEE Conference on Decision and Control (CDC), 2022. Invited Paper.
arxiv / code / presentation
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Online, Model-Free Motion Planning in Dynamic Environments: An Intermittent, Finite Horizon Approach with Continuous-Time Q-Learning
George P. Kontoudis,
Zirui Xu,
Kyriakos G. Vamvoudakis
American Control Conference (ACC), 2020.
pdf / simulation video / presentation
Book Chapters
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RRT-QX: Real-Time Kinodynamic Motion Planning in Dynamic Environments with Continuous-Time Reinforcement Learning
George P. Kontoudis,
Kyriakos G. Vamvoudakis,
Zirui Xu
Brain and Cognitive Intelligence-Control in Robotics, ed. B. Wei, Chapter 1, CRC Press, 2022.
book chapter / pdf / video
Teaching
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Graduate Student Instructor: AEROSP 341 - Aircraft Dynamics, Winter 2024 & Winter 2025.
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Graduate Student Instructor: AEROSP 584 - Navigation and Guidance: From Perception to Control, Fall 2022.
Service
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President of Graduate Student Advisory Committee (GSAC), Department of Aerospace Engineering, University of Michigan, 2023-24.
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Member of DEI Committee, Department of Aerospace Engineering, University of Michigan, 2022-23.
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last updated: Mar 2025 | template from here
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