Publications

2026

1. IEEE/CAA JAS

   Quality or Quantity? Error-Informed Selective Online Learning with Gaussian Processes in Multi-Agent Systems

   Zewen Yang, Xiaobing Dai, Jiajun Cheng, Yulong Huang, and Peng Shi

   IEEE/CAA Journal of Automatica Sinica, 2026

   Impact factor: 19.2, JCR: Q1

   arXiv
2. ICRA

   RCM Constraint-Consistent Dynamic Control in Surgical Robots

   Yu Li, Hamid Sadeghian, Zewen Yang, Valentin Le Mesle, and Sami Haddadin

   In Proceedings of the IEEE International Conference on Robotics and Automation, 2026

   Oral presentation (top 1% in submissions)

   Best Paper Finalist arXiv

   Best Paper Award in Medical Robotics Finalist

3. AAAI

   Streaming Generated Gaussian Process Experts for Online Learning and Control

   Zewen Yang, Dongfa Zhang, Xiaobing Dai, Fengyi Yu, Chi Zhang, Bingkun Huang, Hamid Sadeghian, and Sami Haddadin

   In Proceedings of the AAAI Conference on Artificial Intelligence, Mar 2026

   Oral presentation (acceptance rate 17.6%)

   DOI
4. IEEE JSTSP

   Machine Learning based Controller using Gaussian Process Regression in Electric Motors: Interpretability, Safety and Reliability

   Zhenxiao Yin, Xiaobing Dai, Zewen Yang, Dianxun Xiao, Filippo Menolascina, Sandra Hirche, and Hang Zhao

   IEEE Journal of Selected Topics in Signal Processing, 2026

   Impact factor: 13.7, JCR: Q1

   DOI
5. IROS

   Safe Consensus of Cooperative Manipulation with Hierarchical Event-Triggered Control Barrier Functions

   Simiao Zhuang, Bingkun Huang, and Zewen Yang^†

   In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026

   Oral presentation (acceptance rate 36%)

   arXiv
6. IROS

   Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation

   Dian Yu, Qingchuan Zhou, Bingkun Huang, Majid Khadiv, and Zewen Yang^†

   In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026

   Oral presentation (acceptance rate 36%)

   arXiv
7. IFAC

   Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays

   Kaize Deng and Zewen Yang^†

   In IFAC World Congress, 2026

   Poster presentation

   arXiv
8. ICRA

   Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness

   Bingkun Huang, Yuhe Gong, Zewen Yang, Tianyu Ren, and Luis Figueredo

   In IEEE International Conference on Robotics and Automation (ICRA), 2026

   Poster presentation (acceptance rate 38.04%)

   DOI

2025

1. EAAI

   Safe event-triggered control of unmanned surface vehicles with Gaussian processes: Resilience in denial of service attacks and uncertain dynamics

   Zewen Yang, Xiaobing Dai, Liang Fang, Jiajia Zhou, and Zheping Yan

   Engineering Applications of Artificial Intelligence, 2025

   Impact factor: 9.0, JCR: Q1

   DOI
2. AAAI

   Asynchronous Distributed Gaussian Process Regression

   Zewen Yang, Xiaobing Dai, and Sandra Hirche

   In Proceedings of the AAAI Conference on Artificial Intelligence, Apr 2025

   Poster presentation (acceptance rate 23.4%)

   DOI
3. IEEE TNNLS

   Cooperative Online Learning for Multiagent System Control via Gaussian Processes With Event-Triggered Mechanism

   Xiaobing Dai, Zewen Yang^†, Sihua Zhang, Di-Hua Zhai, Yuanqing Xia, and Sandra Hirche

   IEEE Transactions on Neural Networks and Learning Systems, 2025

   Impact factor: 9.7, JCR: Q1

   DOI
4. IEEE/ASME TMECH

   Torque-Induced-Overshoot Reduction Inspired Compensator for PMSMs Using Motor-Physics Embedded Gaussian Process Regression

   Zhenxiao Yin, Xiaobing Dai, Zewen Yang, Yang Shen, Fang Li, Dianxun Xiao, and Hang Zhao

   IEEE/ASME Transactions on Mechatronics, 2025

   Impact factor: 6.3, JCR: Q1

   DOI
5. NLPIR

   Persona Adaptable Strategies Make Large Language Models Tractable

   Georges Hattab, Aleksandar Anžel, Akshat Dubey, Chisom Ezekannagha, Zewen Yang, and Bahar undefinedlgen

   In Proceedings of the 2024 8th International Conference on Natural Language Processing and Information Retrieval (NLPIR), 2025

   Oral presentation

   DOI
6. DPH

   Holistic forecasting for future pandemics: a review of pathogens, models, and data

   Luis Roger Esquivel Gomez^*, Nadezdha Malysheva^*, Juliane Pfeil^*, Zewen Yang^*, Sandra M. Bütow, Christopher Irrgang, Nils Körber, Georges Hattab, Denise Kühnert, and Katharina Ladewig

   Discover Public Health, 2025

   DOI
7. STAR Protocols

   Protocol for implementing the nested model for AI design and validation in compliance with AI regulations

   Akshat Dubey, Zewen Yang, Aleksandar Anžel, and Georges Hattab

   STAR Protocols, 2025

   (Impact Factor: 1.4, JCR: Q4)

   DOI

2024

1. AAMAS

   Whom to Trust? Elective Learning for Distributed Gaussian Process Regression

   Zewen Yang, Xiaobing Dai, Akshat Dubey, Sandra Hirche, and Georges Hattab

   In Proceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Auckland, New Zealand, 2024

   Oral presentation (acceptance rate: 23.4%)

   HTML
2. ACC

   Cooperative Learning with Gaussian Processes for Euler-Lagrange Systems Tracking Control Under Switching Topologies

   Zewen Yang, Songbo Dong, Armin Lederer, Xiaobing Dai, Siyu Chen, Stefan Sosnowski, Georges Hattab, and Sandra Hirche

   In 2024 American Control Conference (ACC), 2024

   Oral presentation

   DOI
3. CCC

   Kernel-based Learning for Safe Control of Discrete-Time Unknown Systems under Incomplete Observations

   Zewen Yang, Xiaobing Dai, Weijie Yang, Bahar Ilgen, Aleksandar Anzel, and Georges Hattab

   In 2024 43rd Chinese Control Conference (CCC), 2024

   Oral presentation

   DOI
4. EXPLIMED

   AI Readiness in Healthcare through Storytelling XAI

   Akshat Dubey, Zewen Yang, and Georges Hattab

   In First Workshop on Explainable Artificial Intelligence for the Medical Domain (EXPLIMED 2024), co-located with the 27th European Conference on Artificial Intelligence (ECAI 2024), Oct 2024

   Oral presentation
5. iScience

   A nested model for AI design and validation

   Akshat Dubey, Zewen Yang, and Georges Hattab

   iScience, 2024

   (Impact Factor: 4.5, JCR: Q1)

   DOI
6. EJC

   Decentralized event-triggered online learning for safe consensus control of multi-agent systems with Gaussian process regression

   Xiaobing Dai, Zewen Yang^†, Mengtian Xu, Sihua Zhang, Fangzhou Liu, Georges Hattab, and Sandra Hirche

   European Journal of Control, 2024

   (Impact Factor: 2.6, JCR: Q2)

   DOI
7. CSBJ

   Interpretable molecular encodings and representations for machine learning tasks

   Moritz Weckbecker, Aleksandar Anžel, Zewen Yang, and Georges Hattab

   Computational and Structural Biotechnology Journal, 2024

   Acceptance Rate: 26% (Impact Factor: 4.8, JCR: Q2)

   DOI

2023

1. IEEE TAC

   Cooperative Control of Uncertain Multiagent Systems via Distributed Gaussian Processes

   Armin Lederer, Zewen Yang, Junjie Jiao, and Sandra Hirche

   IEEE Transactions on Automatic Control, 2023

   Impact factor: 7.0, JCR: Q1

   DOI
2. IECON

   Learning-based Control for PMSM Using Distributed Gaussian Processes with Optimal Aggregation Strategy

   Zhenxiao Yin^*, Xiaobing Dai^*, Zewen Yang^*, Yang Shen, Georges Hattab, and Hang Zhao

   In IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, 2023

   Oral presentation

   DOI
3. L4DC

   Can Learning Deteriorate Control? Analyzing Computational Delays in Gaussian Process-Based Event-Triggered Online Learning

   Xiaobing Dai, Armin Lederer, Zewen Yang, and Sandra Hirche

   In Proceedings of The 5th Annual Learning for Dynamics and Control Conference, 15–16 jun 2023

   Poster presentation (acceptance rate: 67.6%)

   PDF

2022

1. CCC

   Coordinated Control of Multiple AUVs with Nonconvex Control Input Constraints

   Zheping Yan, Lidong Yue, and Zewen Yang

   In 2022 41st Chinese Control Conference (CCC), 2022

   Oral presentation

   DOI

2021

1. CDC

   Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes

   Zewen Yang, Stefan Sosnowski, Qingchen Liu, Junjie Jiao, Armin Lederer, and Sandra Hirche

   In 2021 60th IEEE Conference on Decision and Control (CDC), 2021

   Oral presentation

   DOI
2. CCC

   Leader-following group consensus of Multi-agent systems with different time delays

   Zheping Yan, Xiaoli Pan, and Zewen Yang

   In 2021 40th Chinese Control Conference (CCC), 2021

   Oral presentation

   DOI
3. CPE

   Two-dimensional optimal path planning for autonomous underwater vehicle using a whale optimization algorithm

   Zheping Yan, Jinzhong Zhang, Zewen Yang, and Jialing Tang

   Concurrency and Computation: Practice and Experience, 2021

   Impact Factor: 2.2, JCR: Q3

   DOI

2020

1. OE

   Virtual leader based path tracking control for Multi-UUV considering sampled-data delays and packet losses

   Zheping Yan, Zewen Yang^†, Xiaoli Pan, Jiajia Zhou, and Di Wu

   Ocean Engineering, 2020

   Impact factor: 6.3, JCR: Q1

   DOI
2. IEEE ACCESS

   Kapur’s Entropy for Underwater Multilevel Thresholding Image Segmentation Based on Whale Optimization Algorithm

   Zheping Yan, Jinzhong Zhang, Zewen Yang, and Jialing Tang

   IEEE Access, 2020

   (Impact Factor: 4.2, JCR: Q2)

   DOI

2019

1. OE

   Discrete-time coordinated control of leader-following multiple AUVs under switching topologies and communication delays

   Zheping Yan, Zewen Yang^†, Lidong Yue, Lu Wang, Heming Jia, and Jiajia Zhou

   Ocean Engineering, 2019

   Impact factor: 6.3, JCR: Q1

   DOI
2. OCEANS

   Coordinated Control for Trajectory Tracking of Multiple UUVs with Input Saturation

   Zheping Yan, Zewen Yang^†, Anzuo Jiang, Yanbin Teng, Xiangling Liu, and Shilin Wei

   In OCEANS 2019 - Marseille, 2019

   Oral presentation

   DOI
3. CCC

   Diving Control of Underactuated UUV Based on Backstepping Upper Bound Sliding Mode Method

   Zheping Yan, Zewen Yang^†, Gengshi Zhang, Jiajia Zhou, Xiaoli Pan, and Lidong Yue

   In 2019 Chinese Control Conference (CCC), 2019

   Oral presentation

   DOI
4. CCC

   Time-delay state feedback control for an underactuated AUV with model uncertainty constraints

   Jiajia Zhou, Xinyi Zhao, Tao Chen, and Zewen Yang

   In 2019 Chinese Control Conference (CCC), 2019

   Oral presentation

   DOI
5. OCEANS

   A Novel Analytical Recovery Controller for Autonomous Underwater Vehicles

   Xue Du, Xuan Zhao, Wei Zhang, Yanbin Teng, and Zewen Yang

   In OCEANS 2019 - Marseille, 2019

   Poster presentation

   DOI
6. IEEE ACCESS

   Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane

   Zheping Yan, Zewen Yang^†, Jinzhong Zhang, Jiajia Zhou, Anzuo Jiang, and Xue Du

   IEEE Access, 2019

   (Impact Factor: 4.2, JCR: Q2)

   DOI
7. IEEE ACCESS

   Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays

   Zheping Yan, Xiaoli Pan, Zewen Yang, and Lidong Yue

   IEEE Access, 2019

   (Impact Factor: 4.2, JCR: Q2)

   DOI
8. IEEE ACCESS

   Fine Alignment Algorithm for UUVs With a Large Misalignment Angle

   Zheping Yan, Anzuo Jiang, Xiangling Liu, Zewen Yang, and Heng Li

   IEEE Access, 2019

   (Impact Factor: 4.2, JCR: Q2)

   DOI
9. IEEE ACCESS

   Trajectory Tracking Control of an Underactuated AUV Based on Backstepping Sliding Mode With State Prediction

   Jiajia Zhou, Xinyi Zhao, Tao Chen, Zheping Yan, and Zewen Yang

   IEEE Access, 2019

   (Impact Factor: 4.2, JCR: Q2)

   DOI
10. IEEE ACCESS

    Consensus Control of Multiple AUVs Recovery System Under Switching Topologies and Time Delays

    Wei Zhang, Jia Zeng, Zheping Yan, Shilin Wei, Jun Zhang, and Zewen Yang

    IEEE Access, 2019

    (Impact Factor: 4.2, JCR: Q2)

    DOI

2018

1. IECON

   Discrete-time Path Tracking Control of Multiple UUVs Based on Virtual Leader under Time Varying Delay

   Zheping Yan, Zewen Yang^†, Di Wu, Lu Wang, Yi Wu, and Jiyun Li

   In IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018

   Oral presentation

   DOI
2. CCC

   Horizontal Trajectory Tracking Control of AUV Using a Two-way Channel High Gain Observer

   Zheping Yan, Zewen Yang^†, Jiajia Zhou, Lu Wang, and Heming Jia

   In 2018 37th Chinese Control Conference (CCC), 2018

   Oral presentation

   DOI
3. CCC

   Transversal navigation algorithm for Unmanned Underwater Vehicles in the polar region

   Zheping Yan, Lu Wang, Tongda Wang, Zewen Yang, and Jiyun Li

   In 2018 37th Chinese Control Conference (CCC), 2018

   Oral presentation

   DOI
4. IEEE ACCESS

   A Novel Path Planning for AUV Based on Objects’ Motion Parameters Predication

   Zheping Yan, Jiyun Li, Yi Wu, and Zewen Yang

   IEEE Access, 2018

   (Impact Factor: 4.2, JCR: Q2)

   DOI
5. SENSORS

   Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

   Zheping Yan, Lu Wang, Tongda Wang, Zewen Yang, Tao Chen, and Jian Xu

   Sensors, 2018

   (Impact Factor: 4.0, JCR: Q3)

   Abs DOI

   To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

6. SENSORS

   Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle

   Zheping Yan, Lu Wang, Tongda Wang, Honghan Zhang, and Zewen Yang

   Sensors, 2018

   (Impact Factor: 4.0, JCR: Q3)

   Abs DOI

   The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur.