Arrow Research search

Author name cluster

Hengjun Zhao

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers
1 author row

Possible papers

2

AAAI Conference 2025 Conference Paper

Learning Verified Safe Neural Network Controllers for Multi-Agent Path Finding

  • Mingyue Zhang
  • Nianyu Li
  • Yi Chen
  • Jialong Li
  • Xiao-Yi Zhang
  • Hengjun Zhao
  • Jiamou Liu
  • Wu Chen

Multi-agent path finding (MAPF) is a safety-critical scenario where the goal is to secure collision-free trajectories from initial to desired locations. However, due to system complexity and uncertainty, integrating learning-based controllers with MAPF is challenging and cannot theoretically guarantee the safety of the learned controllers. In response, our study proposes a verified safe multi-agent neural control (VSMANC) approach for MAPF, focusing on the unified training of Decentralized Control Barrier Functions (DCBF) and controllers to enhence safety. VSMANC enables all agents to concurrently learn controllers and DCBFs using a unified loss function designed to maximize safety, adhere to standard control policies, and incorporate path-finding-related heuristics. We also propose a formal verification-guided retraining process to both verify the properties of the learned DCBFs and generate counterexamples for retraining, thereby providing a verified safety guarantee. We validate our approach through shape formation experiments and UAV simulations, demonstrating significant improvements in safety and effectiveness in complex multi-agent environments.

PDF Details DOI

AIIM Journal 2020 Journal Article

DESIGN AND DEVELOPMENT OF HUMAN COMPUTER INTERFACE USING ELECTROOCULOGRAM WITH DEEP LEARNING

  • Geer Teng
  • Yue He
  • Hengjun Zhao
  • Dunhu Liu
  • Jin Xiao
  • S. Ramkumar

Today’s life assistive devices were playing significant role in our life to communicate with others. In that modality Human Computer Interface (HCI) based Electrooculogram (EOG) playing vital part. By using this method we can able to overcome the conventional methods in terms of performance and accuracy. To overcome such problem we analyze the EOG signal from twenty subjects to design nine states EOG based HCI using five electrodes system to measure the horizontal and vertical eye movements. Signals were preprocessed to remove the artifacts and extract the valuable information from collected data by using band power and Hilbert Huang Transform (HHT) and trained with Pattern Recognition Neural Network (PRNN) to classify the tasks. The classification results of 92. 17% and 91. 85% were shown for band power and HHT features using PRNN architecture. Recognition accuracy was analyzed in offline to identify the possibilities of designing HCI. We compare the two feature extraction techniques with PRNN to analyze the best method for classifying the tasks and recognizing single trail tasks to design the HCI. Our experimental result confirms that for classifying as well as recognizing accuracy of the collected signals using band power with PRNN shows better accuracy compared to other network used in this study. We compared the male subjects performance with female subjects to identify the performance. Finally we compared the male as well as female subjects in age group wise to identify the performance of the system. From that we concluded that male performance was appreciable compared with female subjects as well as age group between 26 to 32 performance and recognizing accuracy were high compared with other age groups used in this study.

Details DOI
v2026.09.13