A series solution to the Thomas-Fermi equation. - Baoheng Yao (Appl. Math. Comput., 2008)

Series solution to the Falkner-Skan equation with stretching boundary. - Baoheng Yao; Jianping Chen (Appl. Math. Comput., 2009)

A new analytical solution branch for the Blasius equation with a shrinking sheet. - Baoheng Yao; Jianping Chen (Appl. Math. Comput., 2009)

Toward Optimal Rendezvous of Multiple Underwater Gliders: 3D Path Planning with Combined Sawtooth and Spiral Motion. - Junliang Cao; Junjun Cao; Zheng Zeng 003; Baoheng Yao; Lian Lian (J. Intell. Robotic Syst., 2017)

Smartfloat: A Multimodal Underwater Vehicle Combining Float and Glider Capabilities. - Junjun Cao; Di Lu 011; Daiwei Li; Zheng Zeng 003; Baoheng Yao; Lian Lian (IEEE Access, 2019)

A consensus protocol considering Lipschitz constant and communication topology condition of high-order nonlinear multi-agent systems. - Hao Wen; Hexiong Zhou; Jian Fu; Baoheng Yao; Lian Lian (Commun. Nonlinear Sci. Numer. Simul., 2022)

Lifting-principle-based design and implementation of fixed-wing unmanned aerial-underwater vehicle. - Zhaoyu Wei; Yuehui Teng; Xiangyao Meng; Baoheng Yao; Lian Lian (J. Field Robotics, 2022)

Design, Implementation, and Characterization of a Novel Positive Buoyancy Autonomous Vehicle. - Zhiguang Wang; Hangyu Zhou; Zhaoyu Wei; Shuai Wei; Honglu Yun; Liyang Dong; Caoyang Yu; Baoheng Yao; Lian Lian (J. Intell. Robotic Syst., 2022)

Adaptive sliding mode control for unknown uncertain non-linear systems with variable coefficients and disturbances. - Hao Wen; Zixuan Liang; Hexiong Zhou; Xinyang Li; Baoheng Yao; Zhihua Mao; Lian Lian (Commun. Nonlinear Sci. Numer. Simul., 2023)

Swift: Transition Characterization and Motion Analysis of a Multimodal Underwater Vehicle. - Hexiong Zhou; Junjun Cao; Jian Fu; Zheng Zeng 003; Baoheng Yao; Zhihua Mao; Lian Lian (IEEE Robotics Autom. Lett., 2024)