12 citations · 22 across the 9 of their papers we have counts for
9 papers
Energy-Aware Lane Planning for Connected Electric Vehicles in Urban Traffic: Design and Vehicle-in-the-Loop Validation
Hansung Kim, Eric Yongkeun Choi, Eunhyek Joa +4
Urban driving with connected and automated vehicles (CAVs) offers potential for energy savings, yet most eco-driving strategies focus solely on longitudinal speed control within a…
A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing
Shengfan Cao, Eunhyek Joa, Francesco Borrelli
Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods…
Energy-efficient predictive control for connected, automated driving under localization uncertainty
Eunhyek Joa, Eric Yongkeun Choi, Francesco Borrelli
This paper presents a data-driven Model Predictive Control (MPC) for energy-efficient urban road driving for connected, automated vehicles. The proposed MPC aims to minimize total…
Eco-driving under localization uncertainty for connected vehicles on Urban roads: Data-driven approach and Experiment verification
Eunhyek Joa, Eric Yongkeun Choi, Francesco Borrelli
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and…
Approximate solution of stochastic infinite horizon optimal control problems for constrained linear uncertain systems
Eunhyek Joa, Francesco Borrelli
We propose a Model Predictive Control (MPC) with a single-step prediction horizon to approximate the solution of infinite horizon optimal control problems with the expected sum of…
Predictive Control for Autonomous Driving with Uncertain, Multi-modal Predictions
Siddharth H. Nair, Hotae Lee, Eunhyek Joa +3
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predi…
Energy-Efficient Lane Changes Planning and Control for Connected Autonomous Vehicles on Urban Roads
Eunhyek Joa, Hotae Lee, Eric Yongkeun Choi +1
This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-…
Output Feedback Stochastic MPC with Hard Input Constraints
Eunhyek Joa, Monimoy Bujarbaruah, Francesco Borrelli
We present an output feedback stochastic model predictive controller (SMPC) for constrained linear time-invariant systems. The system is perturbed by additive Gaussian disturbances…
Monocular Camera Localization for Automated Vehicles Using Image Retrieval
Eunhyek Joa, Yibo Sun, Francesco Borrelli
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and h…