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Research topics

Robotic surveillance

  1. L. Guo, H. Pan, X. Duan, J. He. Balancing Efficiency and Unpredictability in Multi-robot Patrolling: A MARL-Based Approach. In IEEE International Conference on Robotics and Automation, London, United Kingdom, pages 3504-3509, May 2023. https://doi.org/10.1109/ICRA48891.2023.10160923.

  2. X. Duan, D. Paccagnan, F. Bullo. Stochastic Strategies for Robotic Surveillance as Stackelberg Games. IEEE Transactions on Control of Network Systems, 8(2): 769-780, 2021. https://doi.org/10.1109/TCNS.2021.3058932. Errata.

  3. X. Duan, F. Bullo. Markov Chain-Based Stochastic Strategies for Robotic Surveillance. Annual Review of Control, Robotics, and Autonomous Systems, 4: 243-264, 2020. https://www.annualreviews.org/doi/abs/10.1146/annurev-control-071520-120123.

  4. X. Duan, M. George, R. Patel, F. Bullo. Robotic Surveillance Based on the Meeting Time of Random Walks. IEEE Transactions on Robotics, 36(4): 1356-1362, 2020. https://doi.org/10.1109/TRO.2020.2990362.

  5. X. Duan, M. George, F. Bullo. Markov Chains with Maximum Return Time Entropy for Robotic Surveillance. IEEE Transactions on Automatic Control, 65(1): 72-86, 2020. https://doi.org/10.1109/TAC.2019.2906473.

  6. X. Duan, M. George, F. Bullo. Markov Chains with Maximum Return Time Entropy for Robotic Surveillance. In IEEE Conference on Decision and Control, Miami, FL, USA, pages 5934-5939, December 2018. https://doi.org/10.1109/CDC.2018.8619715.

Reach-avoid games/Stochastic games

  1. R. Yan, S. Mi, X. Duan, J. Chen, X. Ji. Pursuit Winning Strategies for Reach-Avoid Games with Polygonal Obstacles. IEEE Transactions on Automatic Control, to appear. https://doi.org/10.1109/TAC.2024.3438806.

  2. R. Yan, X. Duan, R. Zou, X. He, Z. Shi, F. Bullo. Multiplayer Homicidal Chauffeur reach-avoid games: A pursuit enclosure function approach. Automatica, 167: 111770, 2024. https://doi.org/10.1016/j.automatica.2024.111770.

  3. R. Yan, W. Zhang, R. Deng, X. Duan, Z. Shi, Y. Zhong. Evaluation and Learning in Two-Player Symmetric Games via Best and Better Responses. Information Sciences, 647: 119459, 2023. https://doi.org/10.1016/j.ins.2023.119459.

  4. R. Yan, R. Deng, X. Duan, Z. Shi, Y. Zhong. Multiplayer Reach-Avoid Differential Games with Simple Motions: A Review. Frontiers in Control Engineering, 3, 2023. https://doi.org/10.3389/fcteg.2022.1093186.

  5. R. Yan, X. Duan, Z. Shi, Y. Zhong, F. Bullo. Maximum-Matching Capture Strategies for 3D Heterogeneous Multiplayer Reach-Avoid Games. Automatica, 140: 110207, 2022. https://doi.org/10.1016/j.automatica.2022.110207.

  6. R. Yan, G. Santos, X. Duan, D. Parker, M. Kwiatkowska. Finite-horizon Equilibria for Neuro-symbolic Concurrent Stochastic Games. In Conference on Uncertainty in Artificial Intelligence, Eindhoven, The Netherlands, pages 2170-2180, August 2022. https://proceedings.mlr.press/v180/yan22a/yan22a.pdf.

(Psudo)Robotics

  1. Y. Wang, X. Duan, J. He. Learning-Based Motion Planning with Mixture Density Networks. In IEEE International Conference on Robotics and Automation, Yokohama, Japan, pages 16482-16488, May 2024. https://doi.org/10.1109/ICRA57147.2024.10610881.

  2. C. Liao, Y. Wang, X. Ding, Y. Ren, X. Duan, J. He. Performance Comparison of Typical Physics Engines Using Robot Models with Multiple Joints. IEEE Robotics and Automation Letters, 8(11): 7520-7526, 2023. https://doi.org/10.1109/LRA.2023.3320019.

  3. X. Zhang, D. Wang, S. Han, W. Li, B. Zhao, Z. Wang, X. Duan, C. Fang, X. Li, J. He. Affordance-Driven Next-Best-View Planning for Robotic Grasping. In The Conference on Robot Learning, Atlanta, GA, USA, November 2023. https://proceedings.mlr.press/v229/zhang23i.html.

  4. C. Liao, X. Ding, X. Duan, J. He. A Virtual-Physical Interaction Framework for Mobile Robotics Testbeds. In China Automation Congress, Chongqing, China, pages 2931-2936, November 2023. https://doi.org/10.1109/CAC59555.2023.10451913.

  5. X. Duan, Y. Wang, D. Romeres, T. Koike-Akino, P. V. Orlik. Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach. In International Conference on Automation Science and Engineering, Auckland, New Zealand, pages 1-7, August 2023. https://doi.org/10.1109/CASE56687.2023.10260415.

Controls/Dynamical systems

  1. F. Ding, J. Ke, W. Jin, J. He, X. Duan. Guaranteed Stabilization and Safety of Nonlinear Systems via Sliding Mode Control. IEEE Control Systems Letters, 7: 3367 - 3372, 2023. https://doi.org/10.1109/LCSYS.2023.3329882.

  2. Z. Wang, X. Ding, X. Duan, J. He. Learning-based Optimal Control for Linear Systems with Model Uncertainties. In IFAC World Congress, Yokohama, Japan, pages 4006-4012, July 2023. https://doi.org/10.1016/j.ifacol.2023.10.1381.

  3. X. Duan, S. Jafarpour, F. Bullo. Graph-Theoretic Stability Conditions for Metzler Matrices and Monotone Systems. SIAM Journal on Control and Optimization, 59(5): 3447-3471, 2021. https://doi.org/10.1137/20M131802X.

Multiagent/Networked systems

  1. Z. Wang, Y. Li, X. Duan, J. He. Topology-Preserving Motion Coordination for Multi-Robot Systems in Adversarial Environments. IEEE Journal of Selected Topics in Signal Processing, 18(3): 473-486, 2024. https://doi.org/10.1109/JSTSP.2024.3421898.

  2. Z. Wang, Y. Li, X. Duan, J. He. Topology-Preserving Second-Order Consensus: A Strategic Compensation Approach. In IEEE Conference on Decision and Control, Singapore, Singapore, pages 399-404, December 2023. https://doi.org/10.1109/CDC49753.2023.10383971.

  3. C. Zhao, X. Duan, Lin Cai, Peng Cheng. Vehicle Platooning with Non-ideal Communication Networks. IEEE Transactions on Vehicular Technology, 70(1): 18-32, 2021. https://doi.org/10.1109/TVT.2020.3046165.

  4. C. Zhao, X. Duan, Y. Shi. Analysis of Consensus-based Economic Dispatch Algorithm under Time Delays. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50(8): 2978-2988, 2020. https://doi.org/10.1109/TSMC.2018.2840821.

  5. G. Chen, X. Duan, N. Friedkin, F. Bullo. Social Power Dynamics over Switching and Stochastic Influence Networks. IEEE Transactions on Automatic Control, 64(2): 582-597, 2019. https://doi.org/10.1109/TAC.2018.2822182.

  6. G. Chen, X. Duan, W. Mei, F. Bullo. Linear Stochastic Approximation Algorithms and Group Consensus over Random Signed Networks. IEEE Transactions on Automatic Control, 64(5): 1874-1889, 2019. https://doi.org/10.1109/TAC.2018.2867257.

  7. J. He, X. Duan, P. Cheng, L. Shi, L. Cai. Accurate Clock Synchronization in Wireless Sensor Networks with Bounded Noise. Automatica, 81: 350-358, 2017. https://doi.org/10.1016/j.automatica.2017.03.009.

  8. X. Duan, J. He, P. Cheng, J. Chen. Exploiting a Mobile Node for Fast Discrete Time Average Consensus. IEEE Transactions on Control Systems Technology, 24(6): 1993-2001, 2016. https://doi.org/10.1109/TCST.2016.2521802.

  9. X. Duan, N. Freris, P. Cheng. Secure Clock Synchronization under Collusion Attacks. In Allerton Conference on Communication, Control, and Computing, pages 1142-1148, September 2016. https://doi.org/10.1109/ALLERTON.2016.7852364.

  10. C. Zhao, X. Duan, Y. Shi. Analysis of Consensus-based Economic Dispatch Algorithm under Uniform Time Delays. In IEEE Conference on Decision and Control, Las Vegas, NV, USA, pages 783-788, December 2016. https://doi.org/10.1109/CDC.2016.7798363.

  11. X. Duan, J. He, P. Cheng, Y. Mo, J. Chen. Privacy Preserving Maximum Consensus. In IEEE Conference on Decision and Control, Osaka, Japan, pages 4517-4522, December 2015. https://doi.org/10.1109/CDC.2015.7402925.

  12. J. He, X. Duan, P. Cheng, L. Shi, L. Cai. Distributed Time Synchronization under Bounded Noise in Wireless Sensor Networks. In IEEE Conference on Decision and Control, Los Angeles, CA, USA, pages 6883-6888, December 2014. https://doi.org/10.1109/CDC.2014.7040470.

MDPs/Dynamical programming/RL

  1. C. Qu, J. He, J. Li, X. Duan, Y. Mo. Optimal Control for Mobile Agents Considering State Unpredictability. IEEE Transactions on Automatic Control, 69(6): 3944-3951, 2024. https://doi.org/10.1109/TAC.2023.3343818.

  2. S. Bai, L. Zeng, C. Zhao, X. Duan, M. S. Talebi, P. Cheng, J. Chen. Differentially Private No-regret Exploration in Adversarial Markov Decision Processes. In Conference on Uncertainty in Artificial Intelligence, Barcelona, Spain, August 2024. https://openreview.net/forum?id=foNKGt20YE.

  3. H. Pan, X. Duan, W. Yu, J. He. A Deep Reinforcement Learning Approach to Multi-agent Search and Rescue in Unknown Environments. In Chinese Conference on Swarm Intelligence and Cooperative Control, Nanjing, China, pages 102-112, November 2023. https://doi.org/10.1007/978-981-97-3332-3_10.

  4. Y. Paliwal, R. Roy, J. Gaglione, N. Baharisangari, D. Neider, X. Duan, U. Topcu, Z. Xu. Reinforcement Learning with Temporal-Logic-Based Causal Diagrams. In International IFIP Cross Domain Conference for Machine Learning & Knowledge Extraction, Benevento, Italy, pages 123-140, August, 2023. https://doi.org/10.1007/978-3-031-40837-3_8.

  5. X. Duan, N. Baharisangari, R. Yan, Z. Xu, M. Ornik. On a Notion of Resilience for Markov Decision Processes with Reachability Objectives. In IFAC World Congress, Yokohama, Japan, pages 11261-11266, July 2023. https://doi.org/10.1016/j.ifacol.2023.10.318.

  6. C. Qu, J. He, X. Duan, S. Wu. Control Input Inference of Mobile Agents under Unknown Objective. In IFAC World Congress, Yokohama, Japan, pages 2134-2139, July 2023. https://doi.org/10.1016/j.ifacol.2023.10.1117.

  7. R. Yan, X. Duan, Z. Shi, Y. Zhong, J. R. Marden, F. Bullo. Policy Evaluation and Seeking for Multi-Agent Reinforcement Learning via Best Response. IEEE Transactions on Automatic Control, 67(4): 1898-1913, 2021. https://doi.org/10.1109/TAC.2021.3085171.

Misc

  1. X. Duan, Z. Xu, R. Yan, U. Topcu. Privacy-Utility Trade-Offs Against Limited Adversaries. IEEE Transactions on Automatic Control, 69(1): 519-526, 2024. https://doi.org/10.1109/TAC.2023.3269360.

  2. X. Duan, C. Zhao, S. He, P. Cheng, J. Zhang. Distributed Algorithms to Compute Walrasian Equilibrium in Mobile Crowdsensing. IEEE Transactions on Industrial Electronics, 64(5): 4048-4057, 2017. https://doi.org/10.1109/TIE.2016.2645138.

  3. Z. Xu, X. Duan. Robust Pandemic Control Synthesis with Formal Specifications: A Case Study on COVID-19 Pandemic. In IEEE Conference on Decision and Control, Austin, TX, USA, pages 2830-2835, December 2021. https://doi.org/10.1109/CDC45484.2021.9683197.

Preprints

  1. X. Duan, Y. Savas, R. Yan, Z. Xu, U. Topcu. On the Detection of Markov Decision Processes. https://arxiv.org/abs/2112.12338.