5 papers
Byzantine-Resilient Consensus via Active Reputation Learning
Rui Huang, Changxin Liu, Wen-Hua Chen +1
This paper proposes a Byzantine-resilient consensus framework that simultaneously pursues two tightly coupled objectives: actively identifying Byzantine agents and guaranteeing res…
Autonomous UAV Pipeline Near-proximity Inspection via Disturbance-Aware Predictive Visual Servoing
Wen Li, Hui Wang, Jinya Su +3
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicl…
An HMDP-MPC Decision-making Framework with Adaptive Safety Margins and Hysteresis for Autonomous Driving
Siyuan Li, Chengyuan Liu, Wen-Hua Chen
This paper presents a unified decision-making framework that integrates Hybrid Markov Decision Processes (HMDPs) with Model Predictive Control (MPC), augmented by velocity-dependen…
Hierarchical Decision-Making under Uncertainty: A Hybrid MDP and Chance-Constrained MPC Approach
Siyuan Li, Chengyuan Liu, Wen-Hua Chen
This paper presents a hierarchical decision-making framework for autonomous systems operating under uncertainty, demonstrated through autonomous driving as a representative applica…
Auto-optimization of Energy Generation for Wave Energy Converters with Active Learning
Siyang Tang, Wen-Hua Chen, Cunjia Liu
This paper presents an auto-optimization control framework for wave energy converters (WECs) to maximize energy generation under unknown and changing ocean conditions. The proposed…