4 citations · 7 across the 22 of their papers we have counts for
11 papers · 1 filter
Active Noise Floor Estimation for Reliability-Optimal POMDPs: A Value-of-Noise-Information Approach
Hyung-Jin Yoon
Finite Reliability Representations (FRR) certify when a cell-constant policy is sufficient for reliable decision-making in a partially observed system with a known physical noise f…
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…
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.…
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…
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…
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…