Recent Research

System Failure: Sensor (lidar, radar, camera, GPS, IMU) failure; sensor characteristics (noise, drift, inaccuracies, communication delay and discrete data); actuator failures and constraints.

Cyber Attacks: Denial-of-service (DoS) jamming attacks; stochastic deception attacks; false-data injection.

System Characteristics: Model nonlinearities; multi-body dynamics complexities; environment disturbances; parameter uncertainties; network system.

Performance Requirements: System stability; active safety; collision avoidance; transient performance; fast/finite-time convergence; computation/control efficiency and intelligence.

Quantitative and dynamic modeling of the decision-making, modeling of autonomous driving systems (ADSs) with different level of driving automation;

Design of humanlike decision-making system;

Develop more efficient optimization and training approach;

Optimal path planning with complex traffic flow and vehicle dynamics;

Cooperative path planning and networked control for autonomous vehicle platoon.

Rough-terrain mobile robot/ autonomous surface vessel decision-making, motion planning, and control;

Intelligent control, optimal control based on machine learning;

Sensing and perception, sensor fusion, object classification;

Reinforcement learning-based mobility in harsh terrain/wave environment;

Cooperative planning and multi-agent control, networked control.