4 citations · 8 across the 10 of their papers we have counts for
10 papers
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…
Certified Robust Control under Adversarial Perturbations
Jinghan Yang, Hunmin Kim, Wenbin Wan +2
Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. Ho…
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…
Attack-resilient Estimation for Linear Discrete-time Stochastic Systems with Input and State Constraints
Wenbin Wan, Hunmin Kim, Naira Hovakimyan +1
In this paper, an attack-resilient estimation algorithm is presented for linear discrete-time stochastic systems with state and input constraints. It is shown that the state estima…