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eess.SY2025
Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
Robin Inho Kee, Taehyeun Kim, Anouck Girard +1
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This…
cs.RO2025
Learning to Adapt Control Barrier Functions Under Epistemic and Aleatoric Uncertainty
Taekyung Kim, Robin Inho Kee, Dimitra Panagou
Control barrier functions (CBFs) provide a tractable mechanism for enforcing safety constraints in robotic systems, but their practical performance depends strongly on the choice o…
cs.RO2025
Vision-Ultrasound Robotic System based on Deep Learning for Gas and Arc Hazard Detection in Manufacturing
Jin-Hee Lee, Dahyun Nam, Robin Inho Kee +2
Gas leaks and arc discharges present significant risks in industrial environments, requiring robust detection systems to ensure safety and operational efficiency. Inspired by human…