Publications

† denotes co-first author, * denotes corresponding author.

2026

  1. preprint
    lee2026distributed.gif
    Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
    Haejoon Lee, Xinyi Wang, Taekyung Kim, and Dimitra Panagou
    arXiv preprint arXiv:2607.20992, 2026
    PDF Code Website
  2. preprint
    han2026irsim.gif
    IR-SIM: A Lightweight Skill-Native Simulator for Navigation, Learning, and Benchmarking
    Ruihua Han, Shuai Wang, Chengyang Li, Rui Gao, Xinyi Wang, Zhe Liu, Guoliang Li, Yupu Lu, Qi Hao, Jia Pan, and Hengshuang Zhao
    arXiv preprint arXiv:2606.08729, 2026
    PDF Code Website
  3. preprint
    wang2026rl.gif
    Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
    Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, and Dimitra Panagou
    In , 2026
    Under review
    PDF Code Website Demo
  4. T-ASE
    chen2025ambush.gif
    AMBUSH: Collaborative Capture in Complex Environments with Neural Acceleration
    Junfeng Chen, YinHang Luo, Xinyi Wang, Junrui Li, and Meng Guo
    IEEE Transactions on Automation Science and Engineering, 2026
    Video Website

2025

  1. Automatica
    wang2025kalman_uav.gif
    Kalman-Bucy Filtering with Randomized Sensing: Fundamental Limits and Sensor Network Design for Field Estimation
    Xinyi Wang†*, Devansh R. Agrawal†, and Dimitra Panagou
    Automatica, 2025
    Under review
    PDF Website
  2. IROS
    wang2025cvar.gif
    Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
    Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, and Dimitra Panagou
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
    PDF Video Code Website
  3. L4DC
    Multi-Constraint Safe Reinforcement Learning via Closed-Form Solution for Log-Sum-Exp Approximation of Control Barrier Functions
    Chenggang Wang, Xinyi Wang, Yutong Dong, Lei Song, and Xinping Guan
    In Annual Learning for Dynamics & Control Conference (L4DC), 2025
    PDF
  4. TCNS
    chipade2024idcais.gif
    IDCAIS: Inter-Defender Collision-Aware Interception Strategy against Multiple Attackers
    Vishnu S. Chipade, Xinyi Wang, and Dimitra Panagou
    IEEE Transactions on Control of Network Systems, 2025
    PDF

2024

  1. ICRA
    wang2024coverage.gif
    Sensor-based Multi-Robot Coverage Control with Spatial Separation in Unstructured Environments
    Xinyi Wang, Jiwen Xu, Chuanxiang Gao, Yizhou Chen, Jihan Zhang, Chenggang Wang, and Ben M. Chen
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
    PDF Video
  2. ICRA
    wang2024airbumper.png
    Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV Navigation
    Ruoyu Wang, Zixuan Guo, Yizhou Chen, Xinyi Wang, and Ben M. Chen
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
    PDF Video Code

2023

  1. CDC
    wang2023oaecbvc.gif
    OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments
    Xinyi Wang, Yulong Ding, Yizhou Chen, Ruihua Han, Lele Xi, and Ben M. Chen
    In IEEE Conference on Decision and Control (CDC), 2023
    PDF Video
  2. ICRA
    chen2023sampling.gif
    Sampling-based Path Planning under Temporal Logic Constraints with Real-time Adaptation
    Yizhou Chen, Ruoyu Wang, Xinyi Wang*, and Ben M. Chen
    In IEEE International Conference on Robotics and Automation (ICRA), 2023
    PDF Video
  3. CCC
    wang2023fast.gif
    Fast and Secure Distributed Multi-agent Coverage Control with an Application to Infrastructure Inspection and Reconstruction
    Xinyi Wang, Chuanxiang Gao, Xi Chen, and Ben M. Chen
    In Chinese Control Conference (CCC), 2023
    Guan Zhao-Zhi Award Finalist
    PDF Video
  4. IROS
    An Interactive System for Multiple-task Linear Temporal Logic Path Planning
    Yizhou Chen, Xinyi Wang, Zixuan Guo, Ruoyu Wang, Xunkuai Zhou, Guidong Yang, Shupeng Lai, and Ben M. Chen
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
    PDF Video Code
  5. TIE
    wang2023distributed.gif
    Distributed Encirclement and Capture of Multiple Pursuers with Collision Avoidance
    Xinyi Wang, Lele Xi, Yulong Ding, and Ben M. Chen
    IEEE Transactions on Industrial Electronics, 2023
    PDF Video
  6. AIC
    A UAV-based Explore-then-Exploit System for Autonomous Indoor Facility Inspection and Scene Reconstruction
    Chuanxiang Gao, Xinyi Wang, Ruoyu Wang, Zuoquan Zhao, Yu Zhai, Xi Chen, and Ben M. Chen
    Automation in Construction, 2023
    PDF

2021

  1. GNC
    wang2021decentralizedmpc.gif
    Decentralized MPC-based Trajectory Generation for Multiple Quadrotors in Cluttered Environments
    Xinyi Wang, Lele Xi, Yizhou Chen, Shupeng Lai, Feng Lin, and Ben M. Chen
    Guidance, Navigation and Control, 2021
    PDF Video
  2. TIE
    xi2021gtompc.gif
    GTO-MPC-Based Target Chasing Using a Quadrotor in Cluttered Environments
    Lele Xi, Xinyi Wang, Lei Jiao, Shupeng Lai, Zhihong Peng, and Ben M. Chen
    IEEE Transactions on Industrial Electronics, 2021
    PDF Video