4 citations · 6 across the 8 of their papers we have counts for
8 papers
Moving Horizon Estimation for Quadrotors: An Adaptive Optimizer Approach
Thinh Nguyen, Minkyung Kim, Sandeep Banik +2
Moving Horizon Estimation (MHE) is a state estimation method based on finite-horizon optimization that can offer higher accuracy at the cost of increased computation compared to Ka…
Smooth Reference Command Generation and Control for Transition Flight of VTOL Aircraft Using Time-Varying Optimization
Jinrae Kim, John L. Bullock, Sheng Cheng +1
Vertical take-off and landing (VTOL) aircraft pose a challenge in generating reference commands during transition flight. While sparsity between hover and cruise flight modes can b…
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft
Sandeep Banik, Jinrae Kim, Naira Hovakimyan +3
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobi…
Adaptive Optimizer for Online Time-Varying Convex Optimization
Jinrae Kim, Naira Hovakimyan
We propose an adaptive method for online time-varying (TV) convex optimization, termed adaptive optimization (-AO). TV optimizers utilize a predi…
Staircase Localization for Autonomous Exploration in Urban Environments
Jinrae Kim, Sunggoo Jung, Sung-Kyun Kim +2
A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline co…
Parameterized Convex Minorant for Objective Function Approximation in Amortized Optimization
Jinrae Kim, Youdan Kim
Parameterized convex minorant (PCM) method is proposed for the approximation of the objective function in amortized optimization. In the proposed method, the objective function app…
Safe Control Synthesis for Multicopter via Control Barrier Function Backstepping
Jinrae Kim, Youdan Kim
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form…
Parameterized Convex Universal Approximators for Decision-Making Problems
Jinrae Kim, Youdan Kim
Parameterized max-affine (PMA) and parameterized log-sum-exp (PLSE) networks are proposed for general decision-making problems. The proposed approximators generalize existing conve…