Publications

2024

  1. Approximate constrained stochastic optimal control via parameterized input inference
    Syed, Shahbaz P Qadri, and Bai, He
    Provisionally accepted by Automatica 2024
  2. Distributed Multi-Agent Reinforcement Learning Based on Graph-Induced Local Value Functions
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, and Sharma, Piyush K
    IEEE Transactions on Automatic Control 2024
  3. Asynchronous distributed reinforcement learning for lqr control via zeroth-order block coordinate descent
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, and Sharma, Piyush K
    IEEE Transactions on Automatic Control 2024
  4. A Research Testbed for Intelligent and Cooperative Driving in Mixed Traffic
    Lu, Jiaxing, Hossain, Sanzida, Lam, Wakun, Sheng, Weihua, and Bai, He
    IEEE Transactions on Intelligent Transportation Systems 2024
  5. Urban Impacts on UAS Dynamics-based Wind Observations
    Revard, Braydon, Chen, Hao, Elbing, Brian, Jacob, Jamey, and Bai, He
    In 104th AMS Annual Meeting 2024
  6. Comparison of Nonlinear Filters for Quadcopter Wind Estimation
    Chen, Hao, Revard, Braydon, Bai, He, and Jacob, Jamey D
    In AIAA SCITECH 2024 Forum 2024

2023

  1. Wind Field Estimation Using Multiple Quadcopters
    Chen, Hao, Bai, He, and Taylor, Clark N
    IFAC-PapersOnLine 2023
  2. A Study on Workload Assessment and Usability of Wind-Aware User Interface for Small Unmanned Aircraft System Remote Operations
    Tabassum, Asma, Bai, He, and Fala, Nicoletta
    In International Conference on Human-Computer Interaction 2023
  3. Asynchronous Local Computations in Distributed Bayesian Learning
    Bhar, Kinjal, Bai, He, George, Jemin, and Busart, Carl
    arXiv preprint arXiv:2311.03496 2023
  4. Data-Driven Koopman-based Modeling and Control of Quadcopter in a Turbulent Wind Field
    Tabassum, Asma, and Bai, He
    In 2023 IEEE Conference on Control Technology and Applications (CCTA) 2023
  5. Distributed event-triggered unadjusted Langevin algorithm for Bayesian learning
    Bhar, Kinjal, Bai, He, George, Jemin, and Busart, Carl
    Automatica 2023
  6. Cooperative Driving Between Human-driven Vehicle and Autonomous Vehicle Considering Stochastic Human Behavior States
    Hossain, Sanzida, Lu, Jiaxing, Bai, He, and Sheng, Weihua
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
    PDF
  7. Cooperative driving in mixed traffic of manned and unmanned vehicles based on human driving behavior understanding
    Lu, Jiaxing, Hossain, Sanzida, Sheng, Weihua, and Bai, He
    In 2023 IEEE International Conference on Robotics and Automation (ICRA) 2023
  8. Dynamic covariance prediction using variational Wishart processes with uncertain inputs
    Uzzaman, Nahid, and Bai, He
    In 2023 American Control Conference (ACC) 2023
  9. Reinforcement Learning based Approximate Optimal Control of Nonlinear Systems using Carleman Linearization
    Kar, Jishnudeep, Bai, He, and Chakrabortty, Aranya
    In 2023 American Control Conference (ACC) 2023
  10. Parametrized input inference for approximate stochastic optimal control
    Syed, Shahbaz P Qadri, and Bai, He
    In 2023 American Control Conference (ACC) 2023
    PDF
  11. Cooperative Driving between Autonomous Vehicles and Human-driven Vehicles Considering Stochastic Human Input and System Delay
    Hossain, Sanzida, Lu, Jiaxing, Bai, He, and Sheng, Weihua
    In Accepted by the European Control Conference 2023
    PDF
  12. Reinforcement Learning-based Control of Nonlinear Systems using Carleman Approximation: Structured and Unstructured Designs
    Kar, Jishnudeep, Bai, He, and Chakrabortty, Aranya
    arXiv preprint arXiv:2302.10864 2023

2022

  1. Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-driven and Autonomous Vehicles
    Lu, Jiaxing, Stracener, Ryan, Sheng, Weihua, Bai, He, and Hossain, Sanzida
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
  2. Stochastic Model Predictive Control for Coordination of Autonomous and Human-driven Vehicles
    Hossain, Sanzida, Lu, Jiaxing, Bai, He, and Sheng, Weihua
    In The 4th IFAC Workshop on Cyber-Physical Human Systems 2022
    PDF
  3. Asynchronous Bayesian Learning over a Network
    Bhar, Kinjal, Bai, He, George, Jemin, and Busart, Carl
    In IEEE Conference on Decision and Control 2022
    PDF
  4. Incorporating thrust models for quadcopter wind estimation
    Chen, Hao, and Bai, He
    In The 2nd Modeling, Estimation and Control Conference (MECC) 2022
  5. Preliminary Design of Wind-Aware sUAS Simulation Pipeline for Urban Air Mobility
    Tabassum, Asma, DeSantis, Max, Bai, He, and Fala, Nicoletta
    In AIAA AVIATION 2022 Forum 2022
  6. Invariant-EKF Design for Quadcopter Wind Estimation
    Chen, Hao, Bai, He, and Taylor, Clark N.
    In American Control Conference 2022
    PDF
  7. Dynamic Control Allocation between Onboard and Delayed Remote Control for Unmanned Aircraft System Detect-and-Avoid
    Tabassum, Asma, and Bai, He
    Aerospace Science and Technology 2022
  8. Distributed Cooperative Multi-Agent Reinforcement Learning with Directed Coordination Graph
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, Sharma, Piyush, and others,
    arXiv preprint arXiv:2201.04962 2022
  9. A Scalable Graph-Theoretic Distributed Framework for Cooperative Multi-Agent Reinforcement Learning
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, and Sharma, Piyush K
    arXiv preprint arXiv:2202.13046 2022

2021

  1. Reduced-dimensional reinforcement learning control using singular perturbation approximations
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    Automatica 2021
  2. Emulating UAV Motion by Utilizing Robotic Arm for mmWave Wireless Channel Characterization
    Kachroo, Amit, Thornton, Collin A, Sarker, Md Arifur Rahman, Choi, Wooyeol, Bai, He, Song, Ickhyun, O’Hara, John F, and Ekin, Sabit
    IEEE Transactions on Antennas and Propagation 2021
  3. Model-Free Optimal Control of Linear Multiagent Systems via Decomposition and Hierarchical Approximation
    Jing, Gangshan, Bai, He, George, Jemin, and Chakrabortty, Aranya
    IEEE Transactions on Control of Network Systems 2021
  4. Extended invariant-EKF designs for state and additive disturbance estimation
    Coleman, Kevin, Bai, He, and Taylor, Clark N
    Automatica 2021
  5. Scalable designs for reinforcement learning-based wide-area damping control
    Mukherjee, Sayak, Chakrabortty, Aranya, Bai, He, Darvishi, Atena, and Fardanesh, Bruce
    IEEE Transactions on Smart Grid 2021
  6. Learning distributed stabilizing controllers for multi-agent systems
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, and Sharma, Piyush K
    IEEE Control Systems Letters 2021
  7. De-embedding Motion Artifacts from Robotic Arm Assisted Propagation Measurements
    Thornton, Collin, Kachroo, Amit, Bai, He, Ekin, Sabit, and Choi, Wooyeol
    In 2021 IEEE Texas Symposium on Wireless and Microwave Circuits and Systems (WMCS) 2021
  8. Variance Reduction of Quadcopter Trajectory Tracking under Stochastic Wind Disturbances
    Tabassum, Asma, Vuppala, Rohit KSS, Bai, He, and Kara, Kursat
    arXiv e-prints 2021
  9. Decomposability and parallel computation of multi-agent LQR
    Jing, Gangshan, Bai, He, George, Jemin, and Chakrabortty, Aranya
    In 2021 American Control Conference (ACC) 2021
  10. Model-based and model-free designs for an extended continuous-time LQR with exogenous inputs
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    Systems & Control Letters 2021
  11. Asynchronous Distributed Reinforcement Learning for LQR Control via Zeroth-Order Block Coordinate Descent
    Jing, Gangshan, Bai, He, George, Jemin, Chakrabortty, Aranya, and Sharma, Piyush K
    arXiv preprint arXiv:2107.12416 2021
  12. Variance Reduction of Quadcopter Trajectory Tracking in Turbulent Wind
    Tabassum, Asma, Vuppala, Rohit KSS, Bai, He, and Kara, Kursat
    IFAC-PapersOnLine 2021

2020

  1. Cooperative aerial manipulation with decentralized adaptive force-consensus control
    Thapa, Sandesh, Bai, He, and Acosta, José Ángel
    Journal of Intelligent & Robotic Systems 2020
  2. Wind estimation using quadcopter motion: A machine learning approach
    Allison, Sam, Bai, He, and Jayaraman, Balaji
    Aerospace Science and Technology 2020
  3. Multi-agent coordination for distributed transmit beamforming
    George, Jemin, Parayil, Anjaly, Yilmaz, Cemal Tugrul, Allik, Bethany L, Bai, He, and Chakrabortty, Aranya
    In 2020 American Control Conference (ACC) 2020
  4. Future uncertainty-based control for relative navigation in GPS-denied environments
    Bai, He, and Taylor, Clark N
    IEEE Transactions on Aerospace and Electronic Systems 2020
  5. Model-free reinforcement learning of minimal-cost variance control
    Jing, Gangshan, Bai, He, George, Jemin, and Chakrabortty, Aranya
    IEEE Control Systems Letters 2020
  6. Optimizing unmanned aircraft system decision making for detect-and-avoid with delayed pilot commands
    Tabassum, Asma, Bai, He, and Kleski, Craig
    In AIAA AVIATION 2020 FORUM 2020
  7. A Decentralized Approach to Bayesian Learning
    Parayil, Anjaly, Bai, He, George, Jemin, and Gurram, Prudhvi
    arXiv preprint arXiv:2007.06799 2020
  8. Invariant-EKF design for a unicycle robot under linear disturbances
    Coleman, Kevin, Bai, He, and Taylor, Clark N
    In 2020 American Control Conference (ACC) 2020
  9. On robust model-free reduced-dimensional reinforcement learning control for singularly perturbed systems
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    In 2020 American Control Conference (ACC) 2020
  10. Hierarchical control of multi-agent systems using online reinforcement learning
    Bai, He, George, Jemin, and Chakrabortty, Aranya
    In 2020 American Control Conference (ACC) 2020
  11. A Variational Bayesian Approach for Estimating System Parameters and Process Noise
    Bai, He, and Taylor, Clark N
    In 2020 IEEE 23rd International Conference on Information Fusion (FUSION) 2020
  12. Reinforcement Learning Control of Power Systems with Unknown Network Model under Ambient and Forced Oscillations
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    In 2020 IEEE Conference on Control Technology and Applications (CCTA) 2020
  13. Hierarchical Reinforcement Learning for Optimal Control of Linear Multi-Agent Systems: the Homogeneous Case
    Jing, Gangshan, Bai, He, George, Jemin, and Chakrabortty, Aranya
    arXiv e-prints 2020
  14. Online Observer-Based Inverse Reinforcement Learning
    Self, Ryan, Coleman, Kevin, Bai, He, and Kamalapurkar, Rushikesh
    IEEE Control Systems Letters 2020
  15. Decentralized Langevin dynamics for Bayesian learning
    Parayil, Anjaly, Bai, He, George, Jemin, and Gurram, Prudhvi
    Advances in Neural Information Processing Systems 2020
  16. Model-free decentralized reinforcement learning control of distributed energy resources
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    In 2020 IEEE Power & Energy Society General Meeting (PESGM) 2020

2019

  1. Control-enabled Observability and Sensitivity Functions in Visual-Inertial Odometry
    Bai, He, and Taylor, Clark N
    Journal of Intelligent & Robotic Systems 2019
  2. Estimation of atmospheric boundary layer turbulence structure using modelled small UAS dynamics within LES
    Jayaraman, Balaji, Allison, Sam, and Bai, He
    In AIAA Scitech 2019 Forum 2019
  3. Estimating wind velocity with a neural network using quadcopter trajectories
    Allison, Sam, Bai, He, and Jayaraman, Balaji
    In AIAA Scitech 2019 Forum 2019
  4. A markov decision process for the interaction between autonomous collision avoidance and delayed pilot commands
    Li, Ming, Bai, He, and Krishnamurthi, Niyant
    IFAC-PapersOnLine 2019
  5. Cooperative manipulation of an unknown payload with concurrent mass and drag force estimation
    Thapa, Sandesh, Self, Ryan V, Kamalapurkar, Rushikesh, and Bai, He
    IEEE Control Systems Letters 2019
  6. Monocular passive ranging of maneuvering intruder for UAS detect-and-avoid
    Daugherty, Jordan, and Bai, He
    Asian Journal of Control 2019
  7. On Model-Free Reinforcement Learning of Reduced-Order Optimal Control for Singularly Perturbed Systems
    Mukherjee, Sayak, Bai, He, and Chakrabortty, Aranya
    In 2018 IEEE Conference on Decision and Control (CDC) 2019
  8. Distributed stochastic gradient method for non-convex problems with applications in supervised learning
    George, Jemin, Yang, Tao, Bai, He, and Gurram, Prudhvi
    In 2019 IEEE 58th Conference on Decision and Control (CDC) 2019
  9. Block-decentralized model-free reinforcement learning control of two time-scale networks
    Mukherjee, Sayak, Chakrabortty, Aranya, and Bai, He
    In 2019 American Control Conference (ACC) 2019
  10. Field-Based High-Throughput Phenotyping for Maize Plant Using 3D LiDAR Point Cloud Generated With a “Phenomobile”
    Frontiers in Plant Science 2019
  11. Photoprintable nanowire–polymer blends synthesized by dynamic emulsion polycondensation
    Journal of Applied Polymer Science 2019
  12. Sensor Fusion Based Path Following Control of a Car-Like Mobile Vehicle in the Presence of Input Saturations and a Pulse Disturbance
    Wu, Hsiu-Ming, and Bai, He
    In 2019 19th International Conference on Control, Automation and Systems (ICCAS) 2019
  13. Maneuverless passive range estimation using monocular image sequences
    Avadhanam, Sharath, Sheorey, Sameer, Bai, He, and Yadegar, Joseph
    In 2019 19th International Conference on Control, Automation and Systems (ICCAS) Mar 2019

2018

  1. Modeling trajectory performance of quadrotors under wind disturbances
    Allison, Sam, Bai, He, and Jayaraman, Balaji
    In 2019 19th International Conference on Control, Automation and Systems (ICCAS) Mar 2018
  2. Observability driven path planing for relative navigation of unmanned aerial systems
    Bai, He, and Taylor, Clark N
    In 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) Mar 2018
  3. On the Trajectory Dependence of Atmospheric Boundary Layer Turbulence Sensing using Small Unmanned Vehicles
    Jayaraman, Balaji, Allison, Sam, and Bai, He
    arXiv preprint arXiv:1807.04304 Mar 2018
  4. Cooperative aerial load transport with force control
    Thapa, Sandesh, Bai, He, and Acosta, JA
    IFAC-PapersOnLine Mar 2018
  5. Force control in cooperative aerial manipulation
    Thapa, Sandesh, Bai, He, and Acosta, JA
    In 2018 International Conference on Unmanned Aircraft Systems (ICUAS) Mar 2018
  6. Motion-dependent estimation of a spatial vector field with multiple vehicles
    Bai, He
    In 2018 IEEE conference on decision and control (CDC) Mar 2018
  7. Measurement of latency on visual feedback in an immersive telepresence robotic system
    Li, Ming, Junior, Francisco Erivaldo Fernandes, Sheng, Weihua, Bai, He, Fan, Zhen, and Liu, Meiqin
    In 2018 13th World Congress on Intelligent Control and Automation (WCICA) Mar 2018
  8. A human-vehicle collaborative driving framework for driver assistance
    Tran, Duy, Du, Jianhao, Sheng, Weihua, Osipychev, Denis, Sun, Yuge, and Bai, He
    IEEE Transactions on Intelligent Transportation Systems Mar 2018
  9. Real-time detection of distracted driving based on deep learning
    Tran, Duy, Do, Ha Manh, Sheng, Weihua, Bai, He, and Chowdhary, Girish
    IET Intelligent Transport Systems Mar 2018
  10. Asymptotic synchronization of phase oscillators with a single input
    Bai, He, and Wen, John T
    IEEE Transactions on Automatic Control Mar 2018
  11. Simulations of Unmanned Aerial Systems in Canonical Atmospheric Boundary Layer Turbulence for Sensing and Navigation
    Jayaraman, Balaji, Allison, Samuel, and Bai, He
    In 23rd Symposium on Boundary Layers and Turbulence/21st Conference on Air-Sea Interaction Mar 2018

2017

  1. Relative heading estimation under constant disturbances
    Awan, Asad N, and Bai, He
    In 2017 American Control Conference (ACC) Mar 2017
  2. Control-enabled observability in visual-inertial odometry
    Bai, He, and Taylor, Clark N
    In 2017 International Conference on Unmanned Aircraft Systems (ICUAS) Mar 2017
  3. Orbiting intruder passive ranging for small UAS Detect-and-Avoid
    Daugherty, Jordan, Bai, He, and Avadhanam, Sharath
    In 2017 IEEE Conference on Control Technology and Applications (CCTA) Mar 2017
  4. Relative heading estimation and its application in target handoff in GPS-denied environments
    Bai, He, and Beard, Randal W
    IEEE Transactions on Control Systems Technology Mar 2017
  5. An output feedback approach to robust dynamic average consensus
    George, Jemin, and Bai, He
    In 2017 IEEE 56th Annual Conference on Decision and Control (CDC) Mar 2017
  6. Observability properties of relative position and heading estimation with bearing-only measurements
    Bai, He, and Awan, Asad
    In 2017 IEEE 56th Annual Conference on Decision and Control (CDC) Mar 2017
  7. A New Strategy in Observer Modeling for Greenhouse Cucumber Seedling Growth
    Frontiers in Plant Science Mar 2017

2016

  1. Maneuverless passive range estimation using monocular image sequences
    Ganguli, Anurag, Avadhanam, Sharath, Tiwari, Abhishek, Yadegar, Joseph, Bai, He, and Newton, Jason
    Frontiers in Plant Science May 2016
  2. Relative heading estimation for target handoff in GPS-denied environments
    Bai, He, and Beard, Randal W
    In 2016 American Control Conference (ACC) May 2016
  3. Two-time-scale adaptive internal model designs for motion coordination
    Bai, He
    Automatica May 2016
  4. A two-time-scale dynamic average consensus estimator
    Bai, He
    In 2016 IEEE 55th Conference on Decision and Control (CDC) May 2016
  5. Symmetry-preserving observers for a unicycle with unknow constant speeds
    Bai, He
    IFAC-PapersOnLine May 2016

2015

  1. Adaptive motion coordination with an unknown reference velocity
    Bai, He
    In 2015 American Control Conference (ACC) May 2015
  2. GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator
    Izadi, Maziar, Sanyal, Amit K, Beard, Randy, and Bai, He
    In 2015 54th IEEE Conference on Decision and Control (CDC) May 2015
  3. Synchronization under space and time-dependent heterogeneities
    Shafi, S Yusef, and Bai, He
    Automatica May 2015
  4. Improving cooperative tracking of an urban target with target motion model learning
    Bai, He, Cook, Kevin, Yu, Huili, Ingersoll, Kyle, Beard, Randy, Seppi, Kevin, and Avadhanam, Sharath
    In 2015 54th IEEE Conference on Decision and Control (CDC) May 2015

2014

  1. Intelligent cooperative control for urban tracking
    Cook, Kevin, Bryan, Everett, Yu, Huili, Bai, He, Seppi, Kevin, and Beard, Randal
    Journal of Intelligent & Robotic Systems May 2014
  2. Homogenization in reaction-diffusion PDEs under space and time-dependent heterogeneities
    Shafi, S Yusef, and Bai, He
    In 53rd IEEE Conference on Decision and Control May 2014

2013

  1. Intelligent cooperative control for urban tracking with unmanned air vehicles
    Cook, Kevin, Bryan, Everett, Yu, Huili, Bai, He, Seppi, Kevin, and Beard, Randal
    In 2013 International Conference on Unmanned Aircraft Systems (ICUAS) May 2013
  2. Chain-based collision avoidance for UAS sense-and-avoid systems
    Sahawneh, Laith, Beard, Randal W, Avadhanam, Sharath, and Bai, He
    In AIAA Guidance, Navigation, and Control (GNC) Conference May 2013
  3. Output synchronization of nonlinear systems under input disturbances
    Bai, He, and Shafi, S Yusef
    arXiv preprint arXiv:1312.6421 May 2013

2011

  1. Cooperative control design: a systematic, passivity-based approach
    Bai, He, Arcak, Murat, and Wen, John
    arXiv preprint arXiv:1312.6421 May 2011
  2. Attitude CoordinationWithout Inertial Frame Information
    Bai, He, Arcak, Murat, and Wen, John
    arXiv preprint arXiv:1312.6421 May 2011
  3. Distributed Kalman filtering using the internal model average consensus estimator
    Bai, He, Freeman, Randy A, and Lynch, Kevin M
    In Proceedings of the 2011 American Control Conference May 2011
  4. Multiple intruder tracking using a laser enhanced EO/IR sense and avoid system
    Ganguli, Anurag, Avadhanam, Sharath, Bai, He, Yadegar, Joseph, Utt, James, and McCalmont, John
    In Proceedings of the 2011 American Control Conference May 2011

2010

  1. Robust dynamic average consensus of time-varying inputs
    Bai, He, Freeman, Randy A, and Lynch, Kevin M
    In 49th IEEE Conference on Decision and Control (CDC) May 2010
  2. Cooperative load transport: A formation-control perspective
    Bai, He, and Wen, John T
    IEEE Transactions on Robotics May 2010
  3. Parallel-channel flow instabilities and active control schemes in two-phase microchannel heat exchanger systems
    Zhang, TieJun, Wen, John T, Julius, Agung, Bai, He, Peles, Yoav, and Jensen, Michael K
    In Proceedings of the 2010 American Control Conference May 2010
  4. The undesired equilibria of formation control with ring graphs
    Bai, He
    In Proceedings of the 2010 American Control Conference May 2010

2009

  1. Adaptive motion coordination: Using relative velocity feedback to track a reference velocity
    Bai, He, Arcak, Murat, and Wen, John T
    Automatica May 2009
  2. Instability mechanisms in cooperative control
    Bai, He, and Arcak, Murat
    IEEE transactions on automatic control May 2009
  3. Experimental verification of formation control with distributed cameras
    Bai, He, Chapin, Karen Downum, Wason, John, and Wen, John T
    In Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference May 2009
  4. Motion coordination through cooperative payload transport
    Bai, He, and Wen, John T
    In 2009 American Control Conference May 2009
  5. Passivity-based motion coordination of multi-agent systems: Theory and experiments
    Bai, He
    In 2009 American Control Conference May 2009

2008

  1. Rigid body attitude coordination without inertial frame information
    Bai, He, Arcak, Murat, and Wen, John T
    Automatica May 2008
  2. Adaptive design for reference velocity recovery in motion coordination
    Bai, He, Arcak, Murat, and Wen, John T
    Systems & control letters May 2008
  3. Adaptive motion coordination: Using velocity feedback to achieve parameter convergence
    Bai, He, Arcak, Murat, and Wen, John T
    In 2008 American Control Conference May 2008