16 citations · 66 across the 30 of their papers we have counts for
17 papers · 1 filter
Adaptive MPPI with Online Disturbance Covariance Estimation: Provable Stability Tightening via Spatial Smoothing
Hyung-Jin Yoon, Hunmin Kim
We study Model Predictive Path Integral (MPPI) control for nonlinear systems with additive process disturbances whose covariance is unknown, spatially varying, and slowly time-vary…
Residual-Conservative Model Predictive Path Integral Control
Hyung-Jin Yoon, Hunmin Kim
Sampling-based model predictive control methods handle nonlinear dynamics and complex cost landscapes through Monte Carlo rollouts, yet typically employ fixed constraint penalties…
Stochastic Stability of Nonlinear MPPI via Contraction Theory and Control Lyapunov Functions
Hyung-Jin Yoon, Hunmin Kim
Model Predictive Path Integral (MPPI) control is directly implementable on nonlinear systems because its online update requires only forward rollouts of the dynamics, not gradients…
Finite Reliability Representations: Noise-Calibrated Belief-Space Covers for Reliable Decision-Making
Hyung-Jin Yoon, Hunmin Kim
Physical sensing and actuation noise floors should inform how much belief resolution a decision-making system can reliably use. We introduce Finite Reliability Representations (FRR…
Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise
Chuyuan Tao, Wenbin Wan, Junjie Gao +3
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety s…
Backup Plan Constrained Model Predictive Control with Guaranteed Stability
Ran Tao, Hunmin Kim, Hyung-Jin Yoon +4
This article proposes and evaluates a new safety concept called backup plan safety for path planning of autonomous vehicles under mission uncertainty using model predictive control…
Path Integral Methods with Stochastic Control Barrier Functions
Chuyuan Tao, Hyung-Jin Yoon, Hunmin Kim +2
Safe control designs for robotic systems remain challenging because of the difficulties of explicitly solving optimal control with nonlinear dynamics perturbed by stochastic noise.…
Protective Mission against a Highly Maneuverable Rogue Drone Using Defense Margin Strategy
Minjun Sung, Christophe Johannes Hiltebrandt-McIntosh, Hunmin Kim +1
The current paper studies a protective mission to defend a domain called the safe zone from a rogue drone invasion. We consider a one attacker and one defender drone scenario where…
Control Barrier Function Augmentation in Sampling-based Control Algorithm for Sample Efficiency
Chuyuan Tao, Hunmin Kim, Hyungjin Yoon +2
For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by L…
Constrained Attack-Resilient Estimation of Stochastic Cyber-Physical Systems
Wenbin Wan, Hunmin Kim, Naira Hovakimyan +1
In this paper, a constrained attack-resilient estimation algorithm (CARE) is developed for stochastic cyber-physical systems. The proposed CARE can simultaneously estimate the comp…
Backup Plan Constrained Model Predictive Control
Hunmin Kim, Hyungjin Yoon, Wenbin Wan +3
This article proposes a new safety concept: backup plan safety. The backup plan safety is defined as the ability to complete one of the alternative missions in the case of primary…
Robust Vehicle Lane Keeping Control with Networked Proactive Adaptation
Hunmin Kim, Wenbin Wan, Naira Hovakimyan +2
Road condition is an important environmental factor for autonomous vehicle control. A dramatic change in the road condition from the nominal status is a source of uncertainty that…
Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment
Wenbin Wan, Hunmin Kim, Yikun Cheng +3
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-cr…
A Safety Constrained Control Framework for UAVs in GPS Denied Environment
Wenbin Wan, Hunmin Kim, Naira Hovakimyan +2
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the…
Towards Resilient UAV: Escape Time in GPS Denied Environment with Sensor Drift
Hyung-Jin Yoon, Wenbin Wan, Hunmin Kim +3
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an…
Nonlinear Unknown Input and State Estimation Algorithm in Mobile Robots
Pinyao Guo, Hunmin Kim, Nurali Virani +3
This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is desi…
Distributed Robust Adaptive Frequency Control of Power Systems with Dynamic Loads
Hunmin Kim, Minghui Zhu, Jianming Lian
This paper investigates the frequency control of multi-machine power systems subject to uncertain and dynamic net loads. We propose distributed internal model controllers that coor…