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Intelligent Control and Estimation of Things Laboratory

Welcome to the Intelligent Control and Estimation of Things Lab

The current research focus of the Intelligent Control and Estimation of Things (ICE-T) Lab is on the control, estimation, identification and analysis of robotic, autonomous and cyber-physical systems (CPS). CPS are broadly characterized as networked computational elements that control physical components; they form the basis of our future smart systems, ranging from traffic flow management to personalized health care to electric power generation and distribution. A central theme of our research is harnessing the rich dynamical behavior of mixed continuous and discrete (i.e., hybrid) system dynamics to describe and analyze the complex behaviors and interactions of such systems, as well as the changes in their environment, intentional or otherwise. Our research contributes foundational understanding of the control and estimation of these smart systems that opens up new opportunities for creating and improving their functionality and efficiency, with a beneficial impact on our society and economy.


Overview of research focus and current projects. 


Discoveries related to the control and estimation of hidden mode hybrid systems.



Overview of courses and topics taught at Arizona State University and prior positions

Recent News and Announcements

  • October 2018: A paper on ”Set-point regulation of linear continuous-time systems using neuromorphic vision sensors” (Transactions on Automatic Control) is now available online.
  • July 2018: Won 2018 DARPA Young Faculty Award for the topic area of “Swarm Intent Understanding”. News article (September 2018):
  • July 2018: One conference paper will appear at CDC 2018 in Miami, FL on the subject mesh-based affine abstraction.
  • July 2018: Two conference papers appeared at ADHS 2018 in Oxford, UK on the subjects of equalized recovery with missing data and affine abstraction.
  • June 2018: A paper on ”Switching and data injection attacks on stochastic cyber-physical systems: Modeling, resilient estimation and attack mitigation” (ACM Transactions on Cyber-Physical Systems) is now available online.
  • January 2018: Two conference papers will appear at ACC 2017 in Milwaukee, WI on the subjects of set-valued attack-resilient estimation and weak adaptive submodularity.
  • December 2017: A conference paper on active model discrimination will appear at ICCPS 2018 in Porto, Portugal.
  • July 2017: Two papers will be presented at CDC 2017 in Melbourne, Australia.
  • May 2017: Presented a conference paper on ”Weak Adaptive Submodularity and Group-Based Active Diagnosis with Applications to State Estimation with Persistent Sensor Faults” at ACC 2017.
  • May 2017: A paper on ”Simultaneous Input and State Estimation for Linear Time-Varying Continuous-Time Stochastic Systems” (Transactions on Automatic Control) is now available online.
  • May 2017: A paper on “Supermodular Batch State Estimation in Optimal Sensor Scheduling” has been accepted for publication in IEEE Control Systems Letters.
  • February 2017: A conference paper on active model discrimination will appear at IFAC World Congress 2017 in Toulouse, France.
  • January 2017: Two conference papers will appear at ACC 2017 in Seattle, WA on the subjects of weak adaptive submodularity and event-based control.
  • January 2017: Joined Arizona State University as an assistant professor and will be teaching MAE 318: System Dynamics and Control.
  • November 2016: Submitted a conference paper to IFAC World Congress 2017.
  • September 2016: Submitted conference papers to ACC 2017.
  • July 2016: Two conference papers will appear at CDC 2016 in Las Vegas, NV.
  • July 2016: Joined University of Michigan as  a postdoctoral fellow.
  • July 2016: Presented a conference paper on ”Robust and Resilient Estimation of CPS under Adversarial Attack” at ACC 2016. Chaired the “Security of Cyber-Physical Systems I” session.
  • March 2016: Submitted conference papers to CDC 2016.
  • March 2016: The paper “A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles” appeared in the first issue of IEEE Transactions on Intelligent Vehicles.
  • January 2016: A conference paper on “Robust and Resilient Estimation of CPS under Adversarial Attack” will appear at ACC 2016.
  • December 2015: Presented three conference papers at CDC 2015 in Osaka, Japan.
  • November 2015: An Automatica journal article entitled “A unified filter for simultaneous input and state estimation for linear discrete-time stochastic systems” is now online.
  • September 2015: Gave a talk on “Estimation of hidden mode hybrid systems with applications to intention-aware vehicles and resilient state estimation” at UC Berkeley, CA.
  • September 2015: Submitted a conference paper to ACC 2016.
  • July 2015: Three conference papers including one on resilient state estimation will appear at CDC 2015 in Osaka, Japan.
  • July 2015: Presented two conference papers at ACC 2015 in Chicago, IL.
  • May 2015: Gave a talk at GRASP Special Seminar on “Estimation of hidden mode hybrid systems with applications to autonomous systems and resilient estimation” at University of Pennsylvania, PA.
  • March 2015: A number of conference papers were submitted to CDC 2015.
  • January 2015: Three conference papers on continuous-time state and input filtering, flat output characterization, test and tracking control, as well as asymptotic reachable subspace will appear at ACC 2015.
  • January 2015: Submitted a paper on simultaneous input and state filtering for linear time-varying continuous-time systems to Transactions on Automatic Control.
  • December 2014: Presented three conference papers at CDC 2014 in Los Angeles, CA.
  • September 2014: Several conference papers were submitted to ACC 2015.
  • July 2014: Three conference papers on state and input smoothing, state and input filtering for switched linear systems and adaptive tracking control with input amplitude and rate constraints will appear at CDC 2014.
  • April 2014: Presenting a poster at CPSWeek 2014, Berlin, Germany.
  • March 2014: Best Poster Award at Early Career Professionals’ Workshop on Exploring New Frontiers in Cyber-Physical Systems (ECP), Washington, D.C. (among 50 selected posters) — Received full NSF-funded student travel support to attend CPSWeek 2014 in Berlin!
  • July 2013: Two conference papers on stochastically parametric differential games and state and input filtering for discrete-time systems will appear at IROS 2013 and at CDC 2013, respectively.
  • January 2013: A conference paper on hidden mode tracking control will appear at ACC 2013.