对于自主无人系统而言，最重要的无疑是安全性，否则普及必将成为难题。我们的研究重点是考虑道路障碍、过路行人、交通法规等安全因素前提下，基于智能控制理论，实现自主移动机器人的协同路径规划、任务分配、协作运动等。典型应用场景：智能制造、智慧物流、自动驾驶。
在研内容 1：不确定环境中机器人的实时路径规划
代表性论文：
[1] Yang B, Hu H. Dynamic implementation of security requirements in business processes[J]. IEEE Transactions on Dependable and Secure Computing, 2022, 19(2): 1352-1363 (CCF A类).
[2] Yang B, Hu H. Secure conflicts avoidance in multidomain environments: A distributed approach[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(9): 5478-5489 (中科院1区).
[3] Yang B, Hu H. Implementation of generalized mutual exclusion constraints using critical places and marking estimation[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(8): 5067-5079 (中科院1区).
[4] Yang B, Hu H. Decentralized enforcement of linear state specifications for augmented marked graphs with a coordinator[J]. IEEE Transactions on Control Systems Technology, 2024, 32(2): 413-427 (中科院2区).
在研内容 2：多机器人的自主故障检测和容错控制
代表性论文：
[1] Yang B, Hu H. Maximally permissive robustness analysis of automated manufacturing systems with multiple unreliable resources[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, 53(6): 3527-3539 (中科院1区).
[2] Yang B, Hu H. Robustness analysis of automated manufacturing systems with unreliable resources using Petri nets[J]. IEEE Transactions on Automation Science and Engineering, 2022, 19(4): 3686-3699 (中科院1区).
[3] Yang B, Hu H. Robustness analysis of automated manufacturing systems with uncontrollable events using Petri nets[J]. IEEE Transactions on Automation Science and Engineering, 2023, 20(2): 775-788 (中科院1区).
[4] Yang B, Hu H. Maximally permissive robustness discovery in automated manufacturing systems with an unreliable resource[J]. IEEE Transactions on Control of Network Systems, 2024, Early Access, DOI: 10.1109/TCNS.2024. 3355043 (中科院3区).
在研内容 3：异步通信场景中多机器人的安全协作
代表性论文：
[1] Yang B, Hu H. Analysis of authorization constraints via integer linear programming[J]. IEEE Transactions on Knowledge and Data Engineering, 2023, 35(3): 2258-2271 (CCF A类).
[2] Yang B, Hu H. An efficient verification approach to separation of duty in attribute-based access control[J]. IEEE Transactions on Knowledge and Data Engineering, 2024, Early Access, DOI: 10.1109/TKDE.2024.3373562 (CCF A类).
[3] Yang B, Hu H. Resiliency analysis of role-based access control via constraint enforcement and mathematical programming[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, Early Access, DOI: 10.1109/TSMC.2024.3373567 (中科院1区).
[4] Yang B, Hu H. Delegation security analysis in workflow systems[J]. IEEE Transactions on Dependable and Secure Computing, 2024, 21(1): 229-240 (CCF A类).