Publications
Book
[B1] H. Bai, M. Arcak and J. T. Wen. Cooperative Control Design: A Systematic, Passivity-based Approach. Springer-Verlag: Series of Communication and Control Engineering. 1st Edition, 209 p., 78 illus., ISBN 978-1-4614-0013-4, 2011.
PATENT
[P2] S. Avadhanam, S. Sheorey, H. Bai and J. Yadegar. Maneuverless Passive Range Estimation using Monocular Image Sequences, U.S. Patent 10235577 B1, 2019.
[P1] A. Ganguli, H. Bai, S. Avadhanam, J. Newton, A. Tiwari, and J. Yadegar. Maneuverless Passive Range Estimation using Monocular Image Sequences, Patent No. 9,342,746, May 17, 2016.
Journal Papers
[J22] G. Jing, H. Bai, J. George, and A. Chakrabortty. Model-Free Reinforcement Learning of Minimal-Cost Variance Control. In Press, IEEE Control System Letters, 2020. IF: N/A
[J21] H. Bai and C. N. Taylor. Future Uncertainty-based Control for Relative Navigation in GPS-denied Environments. In Press. IEEE Transactions on Aerospace and Electronic Systems, 2020. IF: 2.797
[J20] S. Allison, H. Bai and B. Jayaraman. Wind estimation using quadcopter motion: A machine learning approach. Aerospace Science and Technology, Elsevier, vol. 98, 2020. IF: 2.829
[J19] S. Thapa, H. Bai and J. Á. Acosta. Cooperative Aerial Manipulation with Decentralized Adaptive Force-Consensus Control. Journal of Intelligent & Robotic Systems 97 (1), 171-183, 2020. IF: 2.02
[J18] S. Thapa, R. V. Self, R. Kamalapurkar and H. Bai. Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation. IEEE Control Systems Letters 3 (4), 907-912. IF: N/A
[J17] J. Daugherty and H. Bai. Monocular Passive Ranging of Manuevering Intruder for UAS Detect-and-Avoid. Asian Journal of Control, vol. 21, no. 4, pp. 1745-1755, Special Issue on Recent Advances on Data Fusion, Estimation in Navigation and Control, 2019. IF: 2.005
[J16] Q. Qiu, N. Sun, H. Bai, N. Wang, Z. Fan, Y. Wang, Z. Meng, B. Li and Y. Cong. Field-Based High-Throughput Phenotyping for Maize Plant Using 3D LiDAR Point Cloud Generated With a “Phenomobile”. Frontiers in plant science, vol. 10, 2019, pp. 554. IF: 4.106
[J15] L. Zhang, S. Karumuri, S.H. Alavi, H. Bai, S.P. Harimkar, and A.K. Kalkan. Photoprintable nanowirepolymer blends synthesized by dynamic emulsion polycondensation. Journal of Applied Polymer Science, 136(24), p. 47670, 2019. IF: 2.188
[J14] D. Tran, J. Du, W. Sheng, D. Osipychev, Y. Sun, and H. Bai. A Human-Vehicle Collaborative Driving Framework for Driver Assistance. IEEE Transactions on Intelligent Transportation Systems, vol. 20, no. 9, pp. 3470-3485, 2018. IF: 5.744
[J13] D. Tran, H. Do, W. Sheng, H. Bai and G. Chowdhary. Real-time detection of distracted driving based on deep learning. IET Intelligent Transport Systems, vol. 12, no. 10, 2018, pp. 1210-1219. IF: 2.05
[J12] H. Bai and J. Wen. Asymptotic Synchronization of Phase Oscillators with a Single Input. IEEE Transactions on Automatic Control, 2018
[J11] H. Bai and C. Taylor. Control-enabled Observability and Sensitivity Functions in Visual-Inertial Odometry. Journal of Intelligent & Robotic Systems. pp. 1-13, 2018
[J10] H. Bai and Randy Beard. Relative heading estimation and its application in target handoff in GPS-denied environments. Submitted to the IEEE Transaction on Control System Technology, 2017.
[J9] Q. Qiu, C. Zheng, W. Wang, X. Qiao, H. Bai, J. Yu, and K. Shi. A New Strategy in Observer Modeling for Greenhouse Cucumber Seedling Growth. In Frontiers in Plant Science, 2017.
[J8] H. Bai. Two-time-scale adaptive internal model designs for motion coordination. Automatica, 2016.
[J7] S. Yusef Shafi and H. Bai. Synchronization under space and time-dependent heterogeneities. Automatica, 2015.
[J6] K. Cook, E. Bryan, H. Yu, H. Bai, K. Seppi, and R. Beard. Intelligent Cooperative Control for Urban Tracking. Journal of Intelligent and Robotic Systems, vol. 74, no.1-2, pp. 251-267, 2014.
[J5] H. Bai and J. T. Wen. Cooperative load transport: a formation control perspective. IEEE Transactions on Robotics, vol. 26, no. 4, pp. 742-750, Aug. 2010.
[J4] H. Bai and M. Arcak. Instability mechanisms in cooperative control. IEEE Transactions on Automatic Control, vol. 55, no. 1, 2010, pp. 258-263.
[J3] H. Bai, M. Arcak, and J. T. Wen. Adaptive motion coordination: using relative velocity information to track a reference velocity. Automatica 45 (2009), pp.1020-1025.
[J2] H. Bai, M. Arcak, and J. T. Wen. Rigid body attitude coordination without inertial frame information. Automatica 44 (2008), pp. 3170-3175.
[J1] H. Bai, M. Arcak, and J. T. Wen. Adaptive design for reference velocity recovery in motion coordination. Systems & Control Letters 57 (2008), pp. 602-610.
Conference papers
[C49] H. Bai and C. N. Taylor. A Variational Bayesian Approach for Estimating System Parameters and Process Noise. Accepted by the 23rd International Conference on Information Fusion (FUSION), 2020.
[C48] K. McFall, K. Huang, H. Gilbert, M. Jouaneh, H. Bai, and D. Auslander. Mechatronics and Robotics Education: Standardizing Foundational Key Concepts. Accepted by the American Society of Engineering Education (ASEE) conference, 2020.
[C47] S. Mukherjee, H. Bai and A. Chakrabortty. Reinforcement Learning Control of Power Systems with Unknown Network Model under Ambient and Forced Oscillations. Accepted by the IEEE Conference on Control Technology and Applications, 2020.
[C46] S. Mukherjee, H. Bai, and A. Chakrabortty. Model-Free Decentralized Reinforcement Learning Control of Distributed Energy Resources. Accepted by the 2020 IEEE PES General Meeting, 2020.
[C45] K. Coleman, H. Bai and C. N. Taylor. Invariant-EKF Design for a Unicycle Robot under Linear Disturbances. Accepted by American Control Conference, 2020.
[C44] H. Bai, J. George and A. Chakrabortty. Hierarchical Control of Multi-Agent Systems using Online Reinforcement Learning. Accepted by American Control Conference, 2020.
[C43] S. Mukherjee, H. Bai, and A. Chakrabortty. On Robust Model-Free Reduced-Dimensional Reinforcement Learning Control for Singularly Perturbed Systems. Accepted by American Control Conference, 2020.
[C42] J. George, A. Parayil, C. T. Yilmaz, B. Allik, H. Bai and A. Chakrabortty. Multi-Agent Coordination for Distributed Transmit Beamforming. Accepted by American Control Conference, 2020.
[C41] J. George, T. Yang, H. Bai and P. Gurram. Distributed Stochastic Gradient Method for Non-Convex Problems with Applications in Supervised Learning. IEEE Conference on Decision and Control, 2019.
[C40] S. Thapa, H. Bai, and J. Á. Acosta. Cooperative Aerial Load Transport with Attitude Stabilization. In the Proceedings of the American Control Conference, pp. 2245-2250, 2019.
[C39] S. Mukherjee, H. Bai, and A. Chakrabortty. Block-Decentralized Model-Free Reinforcement Learning Control of Two Time-Scale Networks. In the Proceedings of the American Control Conference, pp. 2233-2238, 2019.
[C38] Hsiu-Ming Wu and H. Bai. Sensor Fusion Based Path Following Control of a Car-Like Mobile Vehicle in the Presence of Input Saturations and a Pulse Disturbance. 19th International Conference on Control, Automation and Systems, 2019.
[C37] M. Li, F. E. Fernandes Junior, W. Sheng, H. Bai, Z. Fan, and M. Liu. Measurement of Latency On Visual Feedback In an Immersive Telepresence Robotic System. In the IEEE 2018 13th World Congress on Intelligent Control and Automation (WCICA), pp. 1757-1762, 2018.
[C36] M. Li, H. Bai, and N. Krishnamurthi. A Markov Decision Process for the Interaction between Autonomous Collision Avoidance and Delayed Pilot Commands. IFAC-PapersOnLine, 51(34), 378-383, 2018.
[C35] H. Bai. Motion-dependent estimation and exploration of a spatial vector field with multiple vehicles. Accepted by the IEEE Conference on Decision and Control, 2018
[C34] S. Mukherjee, H. Bai, A. Chakrabortty. On Model-Free Reinforcement Learning of Reduced-order Optimal Control for Singularly Perturbed Systems. Accepted by the IEEE Conference on Decision and Control, 2018
[C33] Thapa S., Bai H. and Acosta J.A. Force Control in Cooperative Aerial Manipulation. IEEE International Conference on Unmanned Aerial Systems (ICUAS), June 12-15, 2018
[C32] Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June 12-14, 2018
[C31] H. Bai and C. N. Taylor. Observability driven path planning for relative navigation of unmanned aerial systems. Position, Location and Navigation Symposium (PLANS), 2018 IEEE/ION, 793-800 .
[C30] S. Allison, H. Bai and B. Jayaraman. Modeling Trajectory Performance of Quadrotors Under Wind Disturbances. In 2018 AIAA Information Systems-AIAA Infotech@ Aerospace.
[C29] H. Bai and A. Awan. Observability properties of relative state estimation with bearing-only measurements. In the Proceedings of the IEEE Conference on Decision and Control, 2017.
[C28] J. George and H. Bai. An Output Feedback Approach to Robust Dynamic Average Consensus. In the Proceedings of the IEEE Conference on Decision and Control, 2017.
[C27] J. Daugherty, H. Bai and S. Avadhanam. Orbiting Intruder Passive Ranging for Small UAS Detect-and-Avoid. In the Proceedings of the first IEEE conference on Control and Applications, 2017.
[C26] H. Bai and C. Taylor. Control-enabled Observability in Visual-Inertial Odometry. In the Proceedings of the International Conference on Unmanned Aircraft Systems, 2017.
[C25] A. Awan and H. Bai. Relative heading estimation under constant disturbances. In the Proceedings of the 2017 American Control Conference, Seattle, WA, 2017.
[C24] H. Bai. A two-time-scale dynamic average consensus estimator. In the Proceedings of the 54th IEEE Conference on Decision and Control, 2016.
[C23] H. Bai. Symmetry-preserving Observers for a Unicycle with Unknown Constant Speeds. In the Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems, 2016.
[C22] H. Bai and Randy Beard. Relative heading estimation for target handoff in GPS-denied environments. In the Proceedings of the American Control Conference, 2016.
[C21] H. Bai, et al. Improving cooperative tracking of an urban target with target motion learning. In the Proceedings of the 54th IEEE Conference on Decision and Control, 2015.
[C20] M. Izadi, A. Sanyal, R. W. Beard, and H. Bai. GPS-Denied Relative Motion Estimation for Fixed-Wing UAV Using the Variational Pose Estimator. In the Proceedings of the 54th IEEE Conference on Decision and Control, 2015.
[C19] H. Bai. Adaptive Motion Coordination with an Unknown Reference Velocity. In the Proceedings of the American Control Conference, 2015.
[C18] H. Bai, et al. Developing a vision-based sense and avoid system. In the Proceedings of the AUVSI Unmanned Systems conference, Atlanta, GA, 2015.
[C17] S. Yusef Shafi and H. Bai. Homogenization in reaction diffusion PDEs under space and time-dependent heterogeneities. In the proceedings of the 53rd IEEE Conference on Decision and Control, 2014.
[C16] H. Yu, S. Keshavamurthy, H. Bai, S. Sheorey, H. Nguyen, and C. N. Taylor. Uncertainty Estimation for Random Sample Consensus. Accepted by the 13th International Conference on Control, Automation, Robotics and Vision, 2014.
[C15]. H. Bai and S. Yusef Shafi. Output Synchronization of Nonlinear Systems under Input Disturbances. In the Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems, Groningen, Netherlands, 2014.
[C14]. L. Sahawneh, R. W. Beard, S. Avadhanam, and H. Bai. Chain-based collision avoidance for UAS sense-and-avoid systems. Accepted by AIAA Guidance, Navigation, and Control Conference, Boston, MA, 2013.
[C13]. K. M.B. Cook, E. Bryan, H. Yu, H. Bai, K. Seppi, and R. W. Beard. Intelligent cooperative control for urban tracking with unmanned air vehicles. In the Proceedings of 2013 International Conference on Unmanned Aircraft Systems, Atlanta, GA, 2013.
[C12]. A. Ganguli, H. Bai, S. Avadhanam, J. Yadegar, J. Utt and J. McCalmont. Multiple intruder tracking using a laser enhanced EO/IR Sense and Avoid system. In the Proceedings of AIAA Infotech Conference, St. Louis, MO, 2011.
[C11]. H. Bai, R. A. Freeman, and K. M. Lynch. Distributed Kalman filtering using the internal model average consensus estimator. In the Proceedings of the 2011 American Control Conference, San Francisco, CA, 2011, pp. 1500-1505.
[C10]. H. Bai, R. A. Freeman, and K. M. Lynch. Robust dynamic average consensus of time-varying inputs. In the Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, GA, 2010. pp. 3104-3109.
[C9]. H. Bai. The undesired equilibria of formation control with ring graphs. In the Proceedings of the 2010 American Control Conference, Baltimore, MD, 2010, pp. 1653-1658.
[C8]. T. Zhang, J. T. Wen, A. Julius, H. Bai, Y. Peles, and M. K. Jensen. Parallel-channel flow instabilities and active control schemes in two-phase microchannel heat exchanger systems. In the Proceedings of the 2010 American Control Conference, Baltimore, MD, 2010, pp. 3753-3758.
[C7]. H. Bai, K. Downum, J. Wason, and J. T. Wen. Experimental verification of formation control with distributed cameras. In the proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, 2009, pp. 2996-3001.
[C6]. H. Bai and J. T. Wen. Motion coordination through cooperative payload transport. In the Proceedings of the 2009 American Control Conference, St. Louis, MO, 2009, pp. 1310-1315.
[C5]. H. Bai and M. Arcak. Instability mechanisms in cooperative control. In the Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008, pp. 357-362.
[C4]. H. Bai, M. Arcak, and J. T. Wen. Adaptive motion coordination: using velocity feedback to achieve parameter convergence. In the Proceedings of the 2008 American Control Conference, Seattle, WA, 2008, pp. 759-764.
[C3]. H. Bai, M. Arcak, and J. T. Wen. Using orientation agreement to achieve planar rigid formation. In the Proceedings of the 2008 American Control Conference, Seattle, WA, 2008, pp. 753-758.
[C2]. H. Bai, M. Arcak, and J. T. Wen. A decentralized design for group alignment and synchronous rotation without inertial frame information. In the Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007, pp. 2552-2557.
[C1]. H. Bai, M. Arcak, and J. T. Wen. Group coordination when the reference velocity is available only to the leader: an adaptive design. In the Proceedings of the 2007 American Control Conference, New York, NY, 2007, pp. 5400-5405.