Publications

If you have any problem in accessing the following papers online, please feel free to contact me.

Selected Journal Papers

1. Yongxia Shi, Zhiwei Xia, Chun Liu, Xiaoqiang Ren, Ehsan Nekouei, Encrypted Iterative Learning Control for Cloud-Based Robotic Systems, IEEE Transactions on Control Systems Technology, To appear.

2. Zili Zhang, Ziting Wen, Yiheng Qiang, Hongzhou Dong, Wenle Dong, Xinyang Li, Kemi Ding, Xiaofan Wang, Guodong Shi, and Xiaoqiang Ren*, Toward Robust Single-Photon Perception for Robots: A Condition-Aware Active Learning Approach, IEEE Robotics and Automation Letters, To appear.

3. Yiliu Liu, Chun Liu, Xiaoqiang Ren, Jianglin Lan, Xiaofan Wang, Distributed Fault-Tolerant Consensus Control for Multi-Agent Systems With an Event-Triggered Differential Privacy Strategy, IEEE Transactions on Control of Network Systems, To appear.

4. Zhenning Zhang, Liang Xu, Xiaoqiang Ren, Xiaofan Wang, Distributed Output Consensus for Heterogeneous Multiagent Systems With Markov Packet Loss, IEEE Transactions on Cybernetics, Volume 56, Issue 7, Pages 4068–4081, July 2026.

5. Shuo Zhou, Chun Liu, Jianglin Lan, Xiaoqiang Ren, Xiaofan Wang, Optimal Distinguishable Detection of Faults and Attacks in Interconnected Systems: a Stackelberg Game Approach, Automatica, Volume 193, 113226, 2026. (Regular paper)

6. Yuan Fu, Zheng Zhang, Guangyang Zeng, Xiaoqiang Ren*, Attack for Range-Only Localization Systems: A Learning-Based Robust Optimization Approach, IEEE Internet of Things Journal, Volume 13, Issue 16, Pages 36165–36178, 2026.

7. Ziting Wen, Zili Zhang, Kemi Ding, Xiaoqiang Ren, Auto-Labeling for Single-Photon LiDAR Semantic Understanding under Varying Acquisition Conditions, Neural Networks, Volume 203, 109188, 2026.

8. Ziting Wen, Wenle Dong, Zili Zhang, Yiheng Qiang, Kemi Ding, Xiaoqiang Ren*, Noise-Aware Adaptation of Pre-trained Foundation Models for Single-photon Image Classification, Transactions on Machine Learning Research, 2026.

9. Chun Liu, Rui Xiao, Liang Xu, Xiaoqiang Ren, Xiaofan Wang, Distributed Formation Control for Underactuated Multi-ASVs Under DoS Attacks Using Value Decomposition Reinforcement Learning, IEEE Transactions on Systems, Man, and Cybernetics: Systems, Volume 56, Issue 4, Pages 2553–2565, April 2026.

10. Zhiwei Xia, Chun Liu, Xiaoqiang Ren, Hongtian Chen, Xiaofan Wang, Hierarchical Game-Based Optimal Security Control of Vehicular Platoon Systems Against FDI Attacks, IEEE Transactions on Vehicular Technology, Volume 75, Issue 6, Pages 9629–9640, June 2026.

11. Yan Yu, Wen Yang, Xiaoqiang Ren, Ling Shi, Xiaofan Wang, Secure State Estimation against DoS Attack over SINR-based Channels: A Stackelberg Game Approach, IEEE Transactions on Automatic Control, Volume 71, Issue 6, Pages 3971–3986, June 2026.

12. Chun Liu, Haiwen Wang, Hanxiao Liu, Xiaoqiang Ren, Xiaofan Wang, Event-triggered Quantized Fault-tolerant Control for Multi-agent Systems under Aperiodic DoS Attacks: A Mode-switching Mechanism, IEEE Transactions on Control of Network Systems, Volume 13, Issue 1, Pages 288–299, March 2026.

13. Hanxiao Liu, Tianlong Wan, Xu Fang, Xiaoqiang Ren*, Yan Peng, Spatiotemporal-enhanced deep reinforcement learning for multi-UAV target coverage with connectivity in no-fly zones, Science China Technological Sciences, Volume 69, article number 1100311, 2026.

14. Yiliu Liu, Chun Liu, Xiaoqiang Ren, Jianglin Lan, Xiaofan Wang, Distributed fault-tolerant consensus tracking control for multi-agent systems under multiple attacks: An encoding-decoding strategy, Chaos, Solitons & Fractals, Volume 200, 117117, Nov. 2025.

15. Guoliang Chen, Xinru Liu, Xiaoqiang Ren, Jianwei Xia, Ju H. Park, Asynchronous-Based Countermeasure for Stealthy Attack on Aperiodic Sampled-Data Control Systems, IEEE Transactions on Automatic Control, Volume: 70, Issue: 9, Page(s): 6159 - 6166, September 2025.

16. Tao Shi, Weiwei Che, Xiaoqiang Ren*, Event-Triggered Multigradient Recursive Data-Driven Iterative Learning Tracking Control for Multi-agent Systems, IEEE Transactions on Fuzzy Systems, Volume: 33, Issue: 9, Page(s): 3012-3022, Sep. 2025. (Full paper)

17. Chun Liu, Bin Jiang, Youmin Zhang, Xiaoqiang Ren, Xiaofan Wang, Event-triggered Fault-tolerant Consensus Control of Multi-agent Systems with Hybrid Attacks, IEEE Transactions on Systems, Man, and Cybernetics: Systems, Volume: 55, Issue: 8, Page(s): 5541-5552, August 2025.

18. Antai Xie, Xinlei Yi, Xiaofan Wang, Ming Cao, Xiaoqiang Ren*, Differentially Private and Communication-Efficient Distributed Nonconvex Optimization Algorithms, Automatica, Volume 177, 112338, July 2025.(Regular paper)

19. Jiajun Qian, Liang Xu, Xiaoqiang Ren, Xiaofan Wang, Structured Deep Neural Networks-Based Backstepping Trajectory Tracking Control for Lagrangian Systems, IEEE Transactions on Neural Networks and Learning Systems, Volume 36, No. 6, June 2025.

20. Dan Wang, Xiaoqiang Ren, Xiaofan Wang, Assessing multilayer network robustness under asymmetric coupling using motif entropy, Chaos, Solitons & Fractals, Volume 194, 116238, May 2025.

21. Antai Xie, Xiaofan Wang, Wen Yang, Ming Cao, Xiaoqiang Ren*, The Least Information Set Needed by Privacy Attackers, IEEE Transactions on Automatic Control, Volume: 70, Issue: 3, Page(s): 1652-1666, March 2025. (Full paper)

22. Lei Wang, Kemi Ding, Yan Leng, Xiaoqiang Ren*, Guodong Shi, Differentially Private Nash Equilibrium Seeking in Quadratic Network Games, IEEE Transactions on Control of Network Systems, Volume 12, Issue 1, Pages 673–686, March 2025.

23. Xiaotong Yu, Chuang Deng, Haili Liang, Xiaoqiang Ren*, Xiaofan Wang, Replicator dynamics with feedback-evolving games in heterogeneous populations, Chaos: An Interdisciplinary Journal of Nonlinear Science, Volume 35, Issue 2, February 2025.

24. Kemi Ding, Yijun Chen, Lei Wang, Xiaoqiang Ren, Guodong Shi, Network Learning in Quadratic Games from Best-Response Dynamics, IEEE/ACM Transactions on Networking, Volume: 32, Issue: 5, October 2024.

25. Qiang Wang, Chun Liu, Yizhen Meng, Xiaoqiang Ren, Xiaofan Wang, Reinforcement Learning-based Moving-target Enclosing Control for an Unmanned Surface Vehicle in Multi-obstacle Environments, Ocean Engineering, Volume 304, 117920, July 2024.

26. Shuming Cheng, Yue Sun, Lijun Liu, Shaorong Xie, Xiaoqiang Ren*, Toward Quantum Unmanned Systems, Science China Technological Sciences, Volume 67, Pages 2277–2280, June 2024.

27. Hanxiao Liu, Yuqing Ni, Ding Lyu, Xiaoqiang Ren, Xiaofan Wang, Subsystem-importance-aware DoS Attacks and Countermeasures, Automatica, Volume 164, 111640, June 2024.

28. Jiaying Zou, Hanxiao Liu, Chun Liu, Xiaoqiang Ren, Xiaofan Wang, Optimal Privacy-preserving Transmission Schedule against Eavesdropping Attacks on Remote State Estimation, IEEE Control Systems Letters (L-CSS), Volume 8, Pages 538–543, May 2024.

29. Hanxiao Liu, Jiaying Zou, Xiaoqiang Ren, Xiaofan Wang, A Privacy-preserving Approach against Eavesdropping Attacks on Remote State Estimation for Cyber-Physical Systems, IEEE Transactions on Circuits and Systems II: Express Briefs, Volume 71, Issue 3, Pages 1221-1225, March 2024.

30. Xingkang He, Xiaoqiang Ren*, Henrik Sandberg, Karl H. Johansson, How to Secure Distributed Filters Under Sensor Attacks, IEEE Transactions on Automatic Control, Volume 67, Issue 6, Pages 2843-2856, Jun. 2022. (Full paper)

31. Guangyang Zeng, Xiaoqiang Ren, Junfeng Wu, Low-complexity Distributed Detection with One-bit Memory Under Neyman-Pearson Criterion, IEEE Transactions on Control of Network Systems, Volume 9, Issue 1, Pages 2-13, Mar. 2022.

32. Kemi Ding, Xiaoqiang Ren*, Hongsheng Qi, Guodong Shi, Xiaofan Wang, Ling Shi, Interference Game for Intelligent Sensors in Cyber-Physical Systems, Automatica, Volume 129, 109668, July 2021. (Regular paper)

33. Yuqing Ni, Xiaoqiang Ren*, Subhrakanti Dey and Ling Shi, Remote State Estimation with a Strategic Sensor Using a Stackelberg Game Framework, IEEE Transactions on Control of Network Systems, Volume 8, Issue 4, Pages 1613-1623, Dec. 2021.

34. Jiazheng Wang, Xiaoqiang Ren*, Subhrakanti Dey and Ling Shi, Remote State Estimation with Usage-dependent Markovian Packet Losses, Automatica, Volume 123, 109342, Jan. 2021.

35. Shuang Wu, Xiaoqiang Ren*, Yiguang Hong and Ling Shi, Max-min Fair Sensor Scheduling: Game-Theoretic Perspective and Algorithmic Solution, IEEE Transactions on Automatic Control, Volume 66, Issue 5, Pages 2379-2385, May 2021.

36. Kemi Ding, Xiaoqiang Ren*, Alex Leong, Daniel Quevedo, and Ling Shi, Remote State Estimation in the Presence of an Active Eavesdropper, IEEE Transactions on Automatic Control, Volume 66, Issue 1, Pages 229-244, Jan. 2021. (Full paper)

37. Xiaoqiang Ren, Yilin Mo, Jie Chen, and Karl H. Johansson, Secure State Estimation with Byzantine Sensors: A Probabilistic Approach, IEEE Transactions on Automatic Control, Volume 65, Issue 9, Pages 3742-3757, Sep 2020. (Full paper)

38. Shuang Wu, Xiaoqiang Ren*, (Samuel) Qing-Shan Jia, Karl H. Johansson, and Ling Shi, Learning Optimal Scheduling Policy for Remote State Estimation under Uncertain Channel Condition, IEEE Transactions on Control of Network Systems, Volume 7, Issue 2, Pages 579-591, June 2020.

39. Kemi Ding, Xiaoqiang Ren*, Daniel E. Quevedo, Subhrakanti Dey and Ling Shi, Defensive deception against reactive jamming attacks in remote state estimation, Automatica, Volume 113, March 2020, 108680. (Regular paper)

40. Jiazheng Wang, Xiaoqiang Ren*, Yilin Mo and Ling Shi, Whittle’s Index Policy for Dynamic Multi-channel Allocation for Remote State Estimation, IEEE Transactions on Automatic Control, Volume: 65, Issue:2, Pages: 591-603, Feb 2020. (Full paper)

41. Kemi Ding, Xiaoqiang Ren*, Daniel E. Quevedo, Subhrakanti Dey and Ling Shi, DoS Attacks on Remote State Estimation with Asymmetric Information, IEEE Transactions on Control of Network Systems, Volume: 6, Issue: 2, Pages: 653-666, June 2019.

42. Xiaoqiang Ren and Yilin Mo, Secure Detection: Performance Metric and Sensor Deployment Strategy, IEEE Transactions on Signal Processing, Volume 66, Issue 17, Pages 4450-4460, 2018.

43. Shuang Wu, Xiaoqiang Ren*, Subhrakanti Dey and Ling Shi, Optimal Scheduling of Multiple Sensors over Shared Channels with Packet Transmission Constraint, Automatica, Volume 96, Pages 22-31, 2018. (Regular paper)

44. Xiaoqiang Ren, Jiaqi Yan and Yilin Mo, Binary Hypothesis Testing with Byzantine Sensors: Fundamental Trade-off Between Security and Efficiency, IEEE Transactions on Signal Processing, Volume 66, Issue 6, Pages 1454-1468, 2018.

45. Xiaoqiang Ren, Junfeng Wu, Subhrakanti Dey and Ling Shi, Attack Allocation on Remote State Estimation in Multi-Systems: Structural Results and Asymptotic Solution, Automatica, Volume 87, Pages 184-194, 2018. (Regular paper)

46. Chao Yang, Jianying Zheng, Xiaoqiang Ren, Wen Yang, Hongbo Shi, Ling Shi, Multi-Sensor Kalman Filtering with Intermittent Measurements, IEEE Transactions on Automatic Control, Volume 63, Issue 3, Pages 797 – 804, 2018.

47. Xiaoqiang Ren, Junfeng Wu, Karl H. Johansson, Guodong Shi and Ling Shi, Infinite Horizon Optimal Transmission Power Control for Remote State Estimation over Fading Channels, IEEE Transactions on Automatic Control, Volume 63, Issue 1, Pages 85–100, 2018. (Full paper)

48. Xiaoqiang Ren, Karl H. Johansson, Dawei Shi and Ling Shi, Quickest Change Detection in Adaptive Censoring Networks, IEEE Transactions on Control of Network Systems, Volume 5, Issue 1, Pages 239–250, 2018.

49. Xiaoqiang Ren, Karl H. Johansson and Ling Shi, Quickest Change Detection with Observation Scheduling, IEEE Transactions on Automatic Control, Volume 62, Issue 6, Pages 2635–2647, 2017. (Full paper)

50. Junfeng Wu, Xiaoqiang Ren, Duo Han, Dawei Shi and Ling Shi, Finite-horizon Gaussianity-Preserving Event-based Sensor Scheduling in Kalman Filter Applications, Automatica, Volume 72, Pages 100–107, 2016.

51. Chao Yang, Junfeng Wu, Xiaoqiang Ren, Wen Yang, Hongbo Shi and Ling Shi, Deterministic Sensor Selection for Centralized State Estimation Under Limited Communication Resource, IEEE Transaction on Signal Processing, Volume 63, Issue 9, Pages 2336 - 2348, 2015.

Books/Book Chapters

1. Xingkang He, Xiaoqiang Ren*, Henrik Sandberg, Karl H. Johansson, Secured Filters Based on Saturated Innovations, Hideaki Ishii, Quanyan Zhu, Security and Resilience of Control Systems: Theory and Applications, Springer, 2022.

Selected Conference Papers

1. Hongzhou Dong, Zili Zhang, Ziting Wen, Yiheng Qiang, Runrong Deng, Wenle Dong, Ziwen Jiang, Xinyang Li, Rui Lu, Shuoyao Sun, Wenyu Wang, Ziyi Xia, Haitao Zheng, Guodong Shi, Xiaoqiang Ren, SP-TransientBench: A Real-Captured Single Photon Perception Benchmark, European Conference on Computer Vision (ECCV), Malmö, Sweden, Sep. 2026.

2. Linjing Chen, Antai Xie, Xinlei Yi, Xiaoqiang Ren, Xiaofan Wang, Compressed Momentum-based Single-Point Zeroth-Order Algorithm for Stochastic Distributed Nonconvex Optimization, 2026 IFAC World Congress, Busan, Korea, August 2026.

3. Wenqing Zhao, Antai Xie, Yuchi Wu, Xinlei Yi, Xiaoqiang Ren, A Communication-Efficient and Differentially-Private Distributed Generalized Nash Equilibrium Seeking Algorithm for Aggregative Games , 2025 American Control Conference, Denver, Colorado, USA, July 2025.

4. Hongxu Zhao, Guangyang Zeng, Haodong Jiang, Xiaoqiang Ren, Junfeng Wu, Consistent Rigid Body Localization from Range Measurements with Anchor Position Uncertainty, The 63rd IEEE Conference on Decision and Control, Milan, Italy, December 16-19, 2024.

5. Jiaying Zou, Hanxiao Liu, Chun Liu, Xiaoqiang Ren, Xiaofan Wang, Optimal Privacy-preserving Transmission Schedule against Eavesdropping Attacks on Remote State Estimation, The 63rd IEEE Conference on Decision and Control, Milan, Italy, December 16-19, 2024.

6. Xiaotong Yu, Haili Liang, Zhihai Rong, Xiaoqiang Ren, Xiaofan Wang, Ming Cao, Evolution of Cooperation Among Unequals with Game-Environment Feedback, The 63rd IEEE Conference on Decision and Control, Milan, Italy, December 16-19, 2024.

7. Antai Xie, Xinlei Yi, Xiaofan Wang, Ming Cao, Xiaoqiang Ren, A Communication-Efficient Stochastic Gradient Descent Algorithm for Distributed Nonconvex Optimization, The 18th International Conference on Control Automation, Reykjavik, Iceland, June 18-21, 2024.

8. Tao Chen, Lei Wang, Xiaoqiang Ren, Zhitao Liu, Hongye Su, Replay Attack Detection for Cyber-Physical Systems with Sensitive States, The 62nd IEEE Conference on Decision and Control, Singapore, December 13-15, 2023.

9. Dafa Ren, Shuang Wu, Xiaofan Wang, Yan Peng, Xiaoqiang Ren, Learning Bifunctional Push-grasping Synergistic Strategy for Goal-agnostic and Goal-oriented Tasks, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, USA, Oct. 1-5, 2023.

10. Antai Xie, Xinlei Yi, Xiaofan Wang, Ming Cao, Xiaoqiang Ren, Compressed Differentially Private Distributed Optimization with Linear Convergence, The 22nd IFAC World Congress, Yokohama, Japan, July 9-14, 2023.

11. Haodong Jiang, Wentao Wang, Yuan Shen, Xinghan Li, Xiaoqiang Ren, Biqiang Mu, Junfeng Wu, Efficient planar pose estimation via uwb measurements, 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 29 - Jun 2, 2023

12. Qianqian Liu, Fengying Deng, Xiaofan Wang, Xiaoqiang Ren, Autonomous Highway Merging in Mixed Traffic Using Reinforcement Learning and Motion Predictive Safety Controller, IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), Macau, China, Oct. 8-12, 2022.

13. Qingrong Liang, Chun Liu, Yuxuan Zhong, Xiaoqiang Ren, A lightweight flow-based DDoS detection approach using dual convolutional kernels, China Automation Congress (CAC), Xiamen, China, Nov. 25-27, 2022.

14. Antai Xie, Xiaofan Wang, Xiaoqiang Ren, Privacy-Preserving Average Consensus in Finite Time, The 60th IEEE Conference on Decision and Control, Austin, Texas, USA, December 2021.

15. Dafa Ren, Xiaoqiang Ren, Xiaofan Wang, S. Tejaswi Diguma, and Guodong Shi, Fast-Learning Grasping and Pre-Grasping via Clutter Quantization and Q-map Masking, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech, Sept. 27-Oct. 1, 2021.

16. Xiaochang Chen, Jieqiang Wei, Xiaoqiang Ren, Karl H. Johansson, Xiaofan Wang, Automatic Overtaking on Two-way Roads with Vehicle Interactions Based on Deep Reinforcement Learning, 32nd IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 11-15, 2021.

17. Lin Zhu, Jieqiang Wei, Xiaoqiang Ren, and Xiaofan Wang, Enclose a Target with Multiple Nonholonomic Agents, 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), Shenzhen, China, December 13 -15, 2020.

18. Kemi Ding, Xiaoqiang Ren, Hongsheng Qi, Guodong Shi, Xiaofan Wang, and Ling Shi, Dynamic Pricing for Power Control in Remote State Estimation, The 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020.

19. Yulong Gao, Frank J. Jiang, Xiaoqiang Ren, Lihua Xie, and Karl H. Johansson, Reachability-based Human-in-the-Loop Control with Uncertain Specifications, The 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020.

20. Xingkang He, Xiaoqiang Ren, Henrik Sandberg, and Karl H. Johansson, Secure Distributed Filtering for Unstable Dynamics Under Compromised Observations, The 58th IEEE Conference on Decision and Control, Nice, France, Dec 2019.

21. Xiaoqiang Ren, Yilin Mo and Karl H. Johansson, Secure Static State Estimation: A Large Deviation Approach, 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), Groningen, Netherlands, August 2018.

22. Xiaoqiang Ren and Yilin Mo, Multiple Hypothesis Testing in Adversarial Environments: A Game-theoretic Approach, 2018 American Control Conference, Milwaukee, USA, June 2018.

23. Qipeng Liu, Xiaoqiang Ren and Yilin Mo, Secure and Privacy Preserving Average Consensus, The 2017 Asian Control Conference, Gold Coast, Australia, December 2017.

24. Jiaqi Yan, Xiaoqiang Ren and Yilin Mo, Sequential Detection in Adversarial Environment, The 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.

25. Xinghua Liu, Yilin Mo and Xiaoqiang Ren, Security Analysis of Continuous-Time Cyber-Physical System Against Sensor Attacks, 13th Conference on Automation Science and Engineering, Xi’an, China, August 2017.

26. Shuang Wu, Xiaoqiang Ren, Subhrakanti Dey and Ling Shi, Optimal Scheduling of Multiple Sensors with Packet Length Constraint, The 20th World Congress of the International Federation of Automatic Control, Toulouse, France, July 2017.

27. Kemi Ding, Xiaoqiang Ren and Ling Shi, Deception-based Sensor Scheduling for Remote Estimation under DoS Attacks, 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), Tokyo, Japan, September 2016.

28. Chao Yang, Xiaoqiang Ren, Wen Yang, Hongbo Shi and Ling Shi, Jamming Attack in Centralized State Estimation, 34th Chinese Control Conference, Hangzhou, China, July 2015.

29. Xiaoqiang Ren, Yilin Mo and Ling Shi, Optimal DoS Attacks on Bayesian Quickest Change Detection, The 53rd IEEE Conference on Decision and Control, Los Angeles, CA, USA, December 2014.

30. Xiaoqiang Ren and Ling Shi, Decentralized Detection with Censoring Sensors over a Packet-dropping Network, The 19th World Congress of the International Federation of Automatic Control, Cape Town, South Africa, August 2014.

31. Chao Yang, Xiaoqiang Ren, Jianying Zheng and Ling Shi, Sensor Scheduling for Communication Resource Minimization in Centralized State Estimation, IEEE International Conference on Information and Automation & IEEE International Conference on Automation and Logistics, Hulun Buir, Inner Mongolia, China, July 2014.

32. Xiaoqiang Ren and Ling Shi, Bayesian Quickest Change Detection under Energy Constraints over Wireless Sensor Networks with Correlated Fading Channels, The 11th IEEE International Conference on Control & Automation, Taichung, Taiwan, June 2014.