398 citations · 618 across the 44 of their papers we have counts for
44 papers
A Control Theory inspired Exploration Method for a Linear Bandit driven by a Linear Gaussian Dynamical System
Jonathan Gornet, Yilin Mo, Bruno Sinopoli
The paper introduces a linear bandit environment where the reward is the output of a known Linear Gaussian Dynamical System (LGDS). In this environment, we address the fundamental…
An Exploration-free Method for a Linear Stochastic Bandit Driven by a Linear Gaussian Dynamical System
Jonathan Gornet, Yilin Mo, Bruno Sinopoli
In stochastic multi-armed bandits, a major problem the learner faces is the trade-off between exploration and exploitation. Recently, exploration-free methods -- methods that commi…
Sensor Selection for Remote State Estimation with QoS Requirement Constraints
Huiwen Yang, Lingying Huang, Chao Yang +2
In this paper, we study the sensor selection problem for remote state estimation under the Quality-of-Service (QoS) requirement constraints. Multiple sensors are employed to observ…
Consecutive Inertia Drift of Autonomous RC Car via Primitive-based Planning and Data-driven Control
Yiwen Lu, Bo Yang, Jiayun Li +3
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning…
Markov Parameter Identification via Chebyshev Approximation
Jiayun Li, Yilin Mo
This paper proposes an identification algorithm for Single Input Single Output (SISO) Linear Time-Invariant (LTI) systems. In the noise-free setting, where the first Markov par…
Secure State Estimation with Asynchronous Measurements against Malicious Measurement-data and Time-stamp Manipulation
Zishuo Li, Anh Tung Nguyen, André Teixeira +2
This paper proposes a secure state estimation scheme with non-periodic asynchronous measurements for linear continuous-time systems under false data attacks on the measurement tran…
Almost Surely Regret for Adaptive LQR
Yiwen Lu, Yilin Mo
The Linear-Quadratic Regulation (LQR) problem with unknown system parameters has been widely studied, but it has remained unclear whether regret, w…
Safe and Efficient Switching Controller Design for Partially Observed Linear-Gaussian Systems
Yiwen Lu, Yilin Mo
Switching control strategies that unite a potentially high-performance but uncertified controller and a stabilizing albeit conservative controller are shown to be able to balance s…
Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors
Zishuo Li, Muhammad Umar B. Niazi, Changxin Liu +2
This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying s…
Safe and Efficient Switching Mechanism Design for Uncertified Linear Controller
Yiwen Lu, Yilin Mo
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, le…
Ensuring the Safety of Uncertified Linear State-Feedback Controllers via Switching
Yiwen Lu, Yilin Mo
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, le…
Moving Target Interception Considering Dynamic Environment
Chendi Qu, Jianping He, Jialun Li +2
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic envi…
Event-Based Control for Synchronization of Stochastic Linear Systems with Application to Distributed Estimation
Jiaqi Yan, Yilin Mo, Hideaki Ishii
This paper studies the synchronization of stochastic linear systems which are subject to a general class of noises, in the sense that the noises are bounded in covariance but might…
A Framework for Distributed Estimation with Reduced Communication via Event-Based Strategies
Jiaqi Yan, Yilin Mo, Hideaki Ishii
This paper considers the problem of distributed estimation in a sensor network, where multiple sensors are deployed to infer the state of a linear time-invariant (LTI) Gaussian sys…
Aggressive Racecar Drifting Control Using Onboard Cameras and Inertial Measurement Unit
Shuaibing Lin, JiaLiang Qu, Zishuo Li +2
Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only…
A Hierarchical Control Framework for Drift Maneuvering of Autonomous Vehicles
Bo Yang, Yiwen Lu, Xu Yang +1
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging contr…
Two-timescale Mechanism-and-Data-Driven Control for Aggressive Driving of Autonomous Cars
Yiwen Lu, Bo Yang, Yilin Mo
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and cont…
Efficient Secure State Estimation against Sparse Integrity Attack for System with Non-derogatory Dynamics
Zishuo Li, Yilin Mo
We consider the problem of estimating the state of a time-invariant linear Gaussian system in the presence of integrity attacks. The attacker can compromise out of sensors,…
Security Protection in Cooperative Control of Multi-agent Systems
Shuai Sun, Yilin Mo
Due to the wide application of average consensus algorithm, its security and privacy problems have attracted great attention. In this paper, we consider the system threatened by a…
Low Complexity Secure State Estimation Design for Linear System with Non-derogatory Dynamics
Zishuo Li, Yilin Mo
We consider the problem of estimating the state of a linear Gaussian system in the presence of integrity attacks. The attacker can compromise out of sensors, the set of whi…
Safe Linear-Quadratic Dual Control with Almost Sure Performance Guarantee
Yiwen Lu, Yilin Mo
This paper considers the linear-quadratic dual control problem where the system parameters need to be identified and the control objective needs to be optimized in the meantime. Co…
A Distributed Implementation of Steady-State Kalman Filter
Jiaqi Yan, Xu Yang, Yilin Mo +1
This paper studies the distributed state estimation in sensor network, where sensors are deployed to infer the -dimensional state of a linear time-invariant (LTI) Gaussian s…
Stochastic Event-based Sensor Schedules for Remote State Estimation in Cognitive Radio Sensor Networks
Lingying Huang, Jiazheng Wang, Enoch Kung +3
We consider the problem of communication allocation for remote state estimation in a cognitive radio sensor network~(CRSN). A sensor collects measurements of a physical plant, and…
The Vulnerability of Cyber-Physical System under Stealthy Attacks
Tianju Sui, Yilin Mo, Damián Marelli +2
In this paper, we study the impact of stealthy attacks on the Cyber-Physical System (CPS) modeled as a stochastic linear system. An attack is characterised by a malicious injection…