Cailian Chen

Shanghai Jiao Tong University | SJTU · Department of Automation

This paper presents dual-band Wi-Fi backscatter (DBscatter), which is the first system supporting 2.4GHz and 5GHz Wi-Fi backscatter simultaneously in a single tag. Our key insight is that most existing Wi-Fi devices communicate in the clean 5GHz band. The 5GHz band provides more chances for ”free riding” with less interference, while the 2.4GHz ban...

In intelligent factories, multiple industrial cameras capture continuous videos and upload them to edge nodes for automatic preinspection. For reliability, video chunks with low preinspection accuracy must be delivered to quality inspectors for manual reinspection. Video edge caching is an urgent technology for fast and efficient manual reinspectio...

Joint monitoring, by integrating observations from multiple types of equipment, is essential for a thorough understanding of physical processes in the Industrial Internet of Things (IIoT). However, it does demand sufficient resources to ensure reliable and timely delivery of such observations. Although network slicing is widely used to meet such he...

This paper studies the tracking problem of target with the partially unknown motion model by an active agent with bearing-only measurements using Gaussian process learning. To address this problem, a learning-planning-control framework is proposed. First, to learn and predict the target motion under mild assumptions, a Gaussian-process-based scheme...

Underwater vehicle–manipulator system (UVMS) is regarded as a promising tool for humans to autonomously grasp target in marine industry. However, the complex ocean environment and the strong coupling of the UVMS make it challenging to realize the aforementioned goal. This article is concerned with an integrated target recognition and grasp control...

This letter studies the minimum time formation control issue of autonomous underwater vehicles (AUVs), subject to switching topology during the formation procedure. We first employ the smoothstep function to describe the smooth transition of communication topology. Then, a minimum time formation control problem is constructed by minimizing the inte...

Industrial cyber-physical systems (ICPS) integrate physical processes with computational and communication technologies in industrial settings. With the support of edge computing technology, it is feasible to schedule large-scale sensors for efficient distributed sensing. In the sensing process, observability is the key to obtaining complete system...

There has been work that exploits polynomial approximation to solve distributed nonconvex optimization problems involving univariate objectives. This idea facilitates arbitrarily precise global optimization without requiring local evaluations of gradients at every iteration. Nonetheless, there remains a gap between existing guarantees and practical...

Heterogeneous systems consisting of a multiloop wireless control system (WCS) and a mobile agent system (MAS) are ubiquitous in Industrial Internet of Things systems. Within these systems, positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise its performance. Th...

During the flight control system testing (FCST) process, multiple testing tasks should be completed. Battery-powered wireless sensors are used to measure the motion state of each flight control surface. In this paper, we investigate a multi-task scheduling problem to enhance overall monitoring accuracy during the FCST process. However, the decline...

Although wireless control is one of the key technologies for future industries, most wireless networks are only used for monitoring. When wireless networks are applied to transmit control commands, the uncertain link qualities and limited network resources may destroy the performance of multi-loop control systems. Hence, it is critical to allocate...

Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. This article proposes an online control barrier function (CBF) construction method, which extracts CBF from distance samples and enforces the safety of the motion control of robotic manipulators. Specifically, the CBF guarantees the con...

Significant focus has been placed on integrating large language models (LLMs) with various tools in developing general-purpose agents. This poses a challenge to LLMs' tool-use capabilities. However, there are evident gaps between existing tool-use evaluations and real-world scenarios. Current evaluations often use AI-generated queries, single-step...

The autonomous underwater vehicle (AUV) has been regarded as a rapidly deployable tool for in situ sensing and monitoring of marine activities. However, because of the harsh marine environment, full autonomy to fulfill complex marine tasks is still unreachable. In this context, a human operator can make up this deficiency by bringing his or her exp...

In the early commercialization stage of hydrogen fuel cell vehicles (HFCVs), reasonable hydrogen supply infrastructure (HSI) planning decisions is a premise for promoting the popularization of HFCVs. However, there is a strong causality between HFCVs and hydrogen refueling stations (HRSs): the planning decisions of HRSs could affect the hydrogen re...

Flocking control of autonomous underwater vehicles (AUVs) has been regarded as the basis of many sophisticated marine coordination missions. However, there is still a research gap on the flocking of AUVs in weak communication and complex marine environment. This article attempts to fill up the above research gap from graph theory and intelligent le...

Cyber-physical power system (CPPS) stability is severely affected by the communication network performance due to cyber-physical interdependence. Thus, uncertain cyber-physical coordinated attacks (CPCA) pose more significant threats to CPPS than physical attacks. However, the defense strategies in recent works assume real-time and reliable transmi...

The increasing scale of industrial production is leading to a greater demand for communication and computing capabilities, thereby increasing the likelihood of resource competition and conflict. This can cause stochastic overall task latency (including communication and computing latency), resulting in the occurrence of overdue tasks. To guarantee...

The rapid development of vehicle‐to‐everything (V2X) communication technologies significantly promotes the revolution of intelligent transportation systems. V2X communication is expected to play a critical role in enhancing the safety and efficiency of connected and automated vehicles (CAVs), especially for mixed traffic scenarios. Additionally, th...

Dear Editor, This letter studies the communication-aware mobile relaying via an autonomous underwater vehicle (AUV) for minimal wait time. Compared with the analysis-based channel prediction solution, the proposed discrete Kirchhoff approximation solution has a higher estimation accuracy. Different with the deep learning (DL), a semi-supervised bro...

This article investigates the control problem of bearing-based formation tracking for underactuated autonomous underwater vehicles (AUVs) considering actuator constraints and unknown disturbances. A leader–follower structure is adopted, where the leaders move with an unknown reference velocity. For the followers, an integrated strategy is proposed,...

Coordinate measuring machines (CMMs) are frequently used in precise measurement applications and play a crucial role in profile error assessment. One widely adopted method for enhancing profile error evaluation efficiency is the reconstruction of dense errors after sparse CMM sampling. However, Nyquist’s sampling theorem restricts the accuracy of r...

Distributed optimization utilizes local computation and communication to realize a global aim of optimizing the sum of local objective functions. This article addresses a class of constrained distributed nonconvex optimization problems involving univariate objectives, aiming to achieve global optimization without requiring local evaluations of grad...

Multi-Energy Ship (MES) is a prime transportation cyber-physical system, relying heavily on advanced information and communication technology for higher efficiency and reliability. The similar topological structures and logical interdependence between cyber and physical spaces of MES might result in multi-dimensional coupling failures. Therefore, t...

Industrial Time-Sensitive Networking (TSN) provides deterministic mechanisms for real-time and reliable flow transmission. Increasing attention has been paid to efficient scheduling for time-sensitive flows with stringent requirements such as ultra-low latency and jitter. In TSN, the fine-grained traffic shaping protocol, cyclic queuing and forward...

Driven by the demand of Industry 4.0, the integration of 5G and time-sensitive networking (TSN) is proposed to provide ubiquitous connection and deterministic transmission. However, the heterogeneous access mechanisms and scheduling resolutions between 5G and TSN make it still intractable to schedule 5G and TSN resources jointly. To address this is...

Detection and tracking of underwater target play an important role in enhancing the marine sensing ability. Currently, the above mission is usually conducted in a single platform, and there is a lack of necessary cooperation between different platforms. This paper employs unmanned aerial/surface/underwater vehicles (UAV-USV-UUV) to develop a cooper...

In the industrial Internet of Things, state estimation of large-scale physical systems is performed by multiple sensors in a distributed manner. However, frequent communications during an estimation interval can increase the energy consumption of sensors, causing thermal stress and reliability issues. Although system reliability can be improved by...

Formation control of remotely operated vehicles (ROVs) has been regarded as the basis of many sophisticated marine missions. However, the high communication energy consumption and weak environment perception ability on ROVs make it challenging to achieve this task. To overcome the above challenge, this article develops a digital twin (DT)-driven fo...

The wide application of Internet of Things (IoT) technology in industrial automation promotes the emergence of industrial IoT systems, in which state estimation plays a crucial role in conjecturing system states with sensory data delivered over wireless channels. In this paper, we propose an automated guided vehicle (AGV)-assisted adaptive cooperat...

This letter develops an embedded system for integrated underwater communication and detection. Specifically, it consists of an integrated waveform modulator, an echo signal detector and a communication waveform demodulator. For the waveform modulator, the time division modulation technology is adopted to design hybrid frequency multicarrier wavefor...

Distributed sensing is a key process for acquiring system state information in the network environments of industrial cyber-physical system (ICPS). Considering the unknown complex industrial system models, the intelligent methods for distributed sensing are received extensive attention. In most existing works, the system observability is assumed st...

Industrial time-sensitive networking (TSN) is pivotal for ensuring real-time and reliable flow transmission. There is a growing focus on its scalable scheduling for time-critical flows pursuing ultralow latency and jitter. Its time-aware shaper protocol tackles uncertain delay and frame loss but introduces high scheduling complexity. However, exist...

Emerging connected and automated vehicles (CAVs) are believed to play a critical role in the next-generation transportation systems. However, complicated intersection conditions and several safety problems challenge the optimal cooperative driving of CAVs. This paper proposes a bilevel coordination framework for CAVs at unsignalized intersections t...

Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems (NSs), and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under i.i.d. noises in the asymptotic sense. How to effectively cha...

For improving the performance of industrial cyber-physical systems (ICPS), the joint design of control and transmission has been demonstrated as an efficient mechanism. However, the existing metrics in recent joint design works lack completeness and accuracy, which leads to the challenge of improving the stability and network resource utilization o...

Many computation-intensive industrial applications need to be run in the cloud, which relies on a lot of sharply varying data transmitted from the industrial field. To save the communication bandwidth and ensure data with required accuracy obtained by the cloud, we design a data transmission architecture based on dual prediction scheme and cloud-ed...

The fully automatic chromosome analysis system plays an important role in the detection of genetic diseases, which in turn can reduce the diagnosis burden for cytogenetic experts. Chromosome segmentation is a critical step for such a system. However, due to the non-rigid structure of chromosomes, chromosomes may curve in any direction, and two or m...

Aircraft final assembly line (AFAL) is a typical complex manufacturing system with multiple installation and test processes operating simultaneously at each workstation. Lots of robots and sensors are connected and operated for heterogeneous processes by sharing limited communication and computing resources. How to manage devices and resources in a...

Bearing‐only containment control means to achieve containment using only the bearing information, rather than the complete relative position information including both the bearing and the distance. Compared with the most existing relative position based containment control algorithms, the bearing‐only containment control algorithm is nonlinear due...

Observers have broad applications in power systems, whereas observer models are hard to obtain when the system is unknown. This article considers the observer design problems for unknown noisy linear time‐invariant systems based on biased dynamics estimations. Unlike the unbiased methods, biased methods have stronger generalization ability, which b...

Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems (NSs), and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under i.i.d. noises in the asymptotic sense. How to effectively cha...

As industrial plants embrace modern technologies, such as edge computing and wireless networks, industrial control systems have evolved into multi-tier cyber-physical systems. While traditional local controllers enjoy reliable connectivity to sensors/actuators, they suffer from the limited computation capacity of embedded devices. In contrast, edge...

In the new generation of industrial cyber-physical system (ICPS), data-driven control is one of the emerging intelligent control methods to realize efficient production adjustment. In most existing works, the perfect sensing process is regarded as the fundamental assumption. However the experienced sensing strategies deployed in advance are increas...

In this paper, we study the bearing-based formation maneuver control problem of the leader-follower multi-agent system. The objectives are achieving the rotation, translation, and scaling maneuvers with a transformable formation shape. Unlike existing works where the target formation is defined by displacements, distances, or constant bearings, we...

With the rapid development of Industrial Internet of Things (IIoT), Time-Sensitive Networking (TSN) with deterministic and real-time features has gained broad interest. However, most existing research focuses on the network scheduling with fixed task placement and computing resource allocation, restricting the scheduling space of coupled task-netwo...

This paper investigates the leader-following formation control problem of nonholonomic agents with a persistently exciting leader based on bearing measurements. A follower needs to maintain a desired relative position to the leader in its local coordinate frame using bearing measurements. An integrated method consisting of a bearing-based estimator...

The harsh industrial environment and the high exposure of wireless communication networks (WCNs) seriously degrade the control performance of edge-enabled Industrial Internet of Things systems. Recently, the codesign of control and scheduling has been studied as a promising method to improve system performance. However, due to the dynamic feature o...

Industrial Internet of Things (IIoT)-based control is growing rapidly, such as smart factories and industrial automation. Sensing and transmitting physical state measurements is the first step and the prerequisite for IIoT-based control. However, sensor interference (e.g., electromagnetic interference on sensing, temperature, and humidity variation...

The booming development of 5G and Internet of Things (IoT) technologies significantly promotes the revolution of industrial IoT systems. Age of Information (AoI) is expected to play a critical role in industrial IoT systems, especially for time-sensitive monitoring and control applications. In addition, Edge Computing (EC) will be leveraged to effe...

Topology inference for network systems (NSs) plays a crucial role in many areas. This paper advocates a causality-based method based on noisy observations from a single trajectory of a NS, which is represented by the state-space model with general directed topology. Specifically, we first prove its close relationships with the ideal Granger estimat...

The integration of fifth-generation (5 G) and time-sensitive networking (TSN) is a key technology to promote the wireless upgrade of manufacturing industry, and some preliminary enhancements on 5 G with TSN-integration have been introduced to empower industrial internet ubiquitous connectivity and real-time forwarding. However, at present, the 5 G...

In this paper, we investigate a mixed-traffic control problem considering uncertainties of HDVs flow. The challenges mainly lie in modeling the stochastic characteristics of mixed-traffic flow and developing less-conservative algorithm to deal with the uncertainties. To tackle the problem, we propose a stochastic model predictive control (MPC) stra...

Cooperative adaptive cruise control (CACC) can optimize velocity planning by interaction between connected vehicles, and thus increase energy efficiency. It is much significant for platoon of electric vehicles (EVs) powered by hybrid energy storage system (HESS). HESS which is composed of battery and supercapacitor (SC), has been implemented to imp...

With the rapid development of smart manufacturing, edge computing-oriented microservice platforms are emerging as an important part of production control. In the containerized deployment of microservices, layer sharing can reduce the huge bandwidth consumption caused by image pulling, and chain sharing can reduce communication overhead caused by co...

Motion planning of underwater vehicles is regarded as a promising technique to make up the flexibility deficiency of underwater sensor networks (USNs). Nonetheless, the unique characteristics of underwater channel and environment make it challenging to achieve the above mission. This article is concerned with a communication-efficient and collision...

In this paper, the entrapping control problem of discrete-time AUVs with local coordinate frames is studied. To achieve entrapment in arbitrarily shaped orbits and formations, we design a bearing-based leader-following framework fully in the discrete-time domain with four parts: the orientation estimation unit, estimator unit, controller unit and p...

Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and non-trivial dynamics, leading to collision; Second, the feasible space for the manipulator is hard to obtain...

Task offloading in edge computing is important for the Industrial Internet of Things (IIoT) to implement computation-intensive applications in real time. However, achieving efficient task offloading in IIoT is very challenging due to the limited computing resources of IIoT devices, the coupling of computing and communication resources, and the unre...

In this work, we investigate the energy market pricing problem of an energy hub (EH) under endogenous uncertain demands. While traditional pricing problems consider exogenous energy demands, in multi-energy scenarios, the difference between power and heat prices could affect the compliance of residents to use certain energy, and therefore affect th...

In this paper, we investigate the estimation-oriented sensor scheduling problem over industrial cyber-physical systems. Different from the existing works, we consider a more innovative and practical scenario where channel resources are limited. A novel transmission scheduling framework for sensors monitoring multiple