4 papers
Observer-Based Environment Robust Control Barrier Functions for Safety-critical Control with Dynamic Obstacles
Ying Shuai Quan, Jian Zhou, Erik Frisk +1
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness a…
RNN Controller for Lane-Keeping Systems with Robustness and Safety Verification
Ying Shuai Quan, Jin Sung Kim, Chung Choo Chung
This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints co…
Reachable Set-based Path Planning for Automated Vertical Parking System
In Hyuk Oh, Ju Won Seo, Jin Sung Kim +1
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we defin…
Classification Method of Road Surface Condition and Type with LiDAR Using Spatiotemporal Information
Ju Won Seo, Jin Sung Kim, Chung Choo Chung
This paper proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides…