3 papers
eess.SY2025
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…
cs.LG2025
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…
cs.MA2024
Learning Two-agent Motion Planning Strategies from Generalized Nash Equilibrium for Model Predictive Control
Hansung Kim, Edward L. Zhu, Chang Seok Lim +1
We introduce an Implicit Game-Theoretic MPC (IGT-MPC), a decentralized algorithm for two-agent motion planning that uses a learned value function that predicts the game-theoretic i…