Welcome
Home
Misc
Research
Topics
Publications
Teaching

Research topics

Robotic surveillance

  1. W. Wang, X. Duan, J. He. Multi-Robot Stochastic Patrolling via Graph Partitioning. IEEE Transactions on Control of Network Systems, to appear. https://doi.org/10.1109/TCNS.2024.3463502.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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. K. Mao, Y. Li, J. He, X. Duan. Herding Attack against Mobile Robotic Networks with Formation Control and Obstacle Avoidance. In Chinese Control Conference, Kunming, China, pages 5541-5547, July 2024. https://doi.org/10.23919/CCC63176.2024.10662624.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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, X. Duan. Control Law Learning Based on LQR Reconstruction with Inverse Optimal Control. IEEE Transactions on Automatic Control, to appear. https://doi.org/10.1109/TAC.2024.3469788.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.