61 citations · 137 across the 8 of their papers we have counts for
8 papers
Probabilistic Recursively Feasible Motion Planning Under Uncertain Environments
Hyeontae Sung, Hyeongchan Ham, Junyoung Park +2
Safe motion planning in uncertain, time-varying environments is challenging because the safe region can change unpredictably across planning steps, often causing a loss of recursiv…
Knapsack-based Online Sensor Selection for Vehicle State Estimation
Jehyeop Han, Minhee Kang, Alessandro Colombo +2
As connected and autonomous driving technologies advance, vehicles increasingly rely on data from external sensors. Although this information can enhance state estimation, processi…
Sampling-Based Safety Filter with Probabilistic Restrictiveness Guarantee
Junyoung Park, Hyeontae Sung, Heejin Ahn
Ensuring safety is a critical requirement for autonomous systems, yet providing formal guarantees for nominal controllers remains a significant challenge. In this paper, we propose…
Chance-Constrained Trajectory Planning with Multimodal Environmental Uncertainty
Kai Ren, Heejin Ahn, Maryam Kamgarpour
We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles' uncertain states. Then…
Safe Motion Planning against Multimodal Distributions based on a Scenario Approach
Heejin Ahn, Colin Chen, Ian M. Mitchell +1
We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for exa…
Safety Verification and Control for Collision Avoidance at Road Intersections
Heejin Ahn, Domitilla Del Vecchio
This paper presents the design of a supervisory algorithm that monitors safety at road intersections and overrides drivers with a safe input when necessary. The design of the super…
Robust Supervisors for Intersection Collision Avoidance in the Presence of Uncontrolled Vehicles
Heejin Ahn, Andrea Rizzi, Alessandro Colombo +1
We present the design and validation of a centralized controller, called a supervisor, for collision avoidance of multiple human-driven vehicles at a road intersection, considering…
Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling
Heejin Ahn, Domitilla Del Vecchio
In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths…