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Enyi Tang

2 accepted papers

2022

Wassertrain: An Adversarial Training Framework Against Wasserstein Adversarial Attacks

ICASSP 2022accepted

This paper presents an adversarial training framework WasserTrain for improving model robustness against the adversarial attacks in terms of the Wasserstein distance. First, an effective attack method WasserAttack is introduced with a novel encoding of the optimization problem, which directly finds…

Cited by 0SourceScholar
2020

Navigating Discrete Difference Equation Governed WMR by Virtual Linear Leader Guided HMPC

ICRA 2020poster

In this paper, we revisit model predictive control (MPC) for the classical wheeled mobile robot (WMR) navigation problem. We prove that the reachable set based hierarchical MPC (HMPC), a state-of-the-art MPC, cannot handle WMR navigation in theory due to the non-existence of non-trivial linear syste…

Cited by 2SourceScholar