7 citations · 14 across the 22 of their papers we have counts for
15 papers · 1 filter
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…
An Information-Theoretic Analysis of Discrete-Time Control and Filtering Limitations by the I-MMSE Relationships
Neng Wan, Dapeng Li, Naira Hovakimyan +1
Fundamental limitations or performance trade-offs/limits are important properties and constraints of both control and filtering systems. Among various trade-off metrics, total info…
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.…
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…
Time Coordination of Multiple UAVs over Switching Communication Networks with Digraph Topologies
Hyungsoo Kang, Hyung-Jin Yoon, Venanzio Cichella +2
This paper presents a time-coordination algorithm for multiple UAVs executing cooperative missions. Unlike previous algorithms, it does not rely on the assumption that the communic…
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…