3 papers
cs.RO2024
Addressing Behavior Model Inaccuracies for Safe Motion Control in Uncertain Dynamic Environments
Minjun Sung, Hunmin Kim, Naira Hovakimyan
Uncertainties in the environment and behavior model inaccuracies compromise the state estimation of a dynamic obstacle and its trajectory predictions, introducing biases in estimat…
eess.SY2024
Robust Model Based Reinforcement Learning Using Adaptive Control
Minjun Sung, Sambhu H. Karumanchi, Aditya Gahlawat +1
We introduce -MBRL, a control-theoretic augmentation scheme for Model-Based Reinforcement Learning (MBRL) algorithms. Unlike model-free approaches, MBRL algorithms l…
eess.SY2022
Protective Mission against a Highly Maneuverable Rogue Drone Using Defense Margin Strategy
Minjun Sung, Christophe Johannes Hiltebrandt-McIntosh, Hunmin Kim +1
The current paper studies a protective mission to defend a domain called the safe zone from a rogue drone invasion. We consider a one attacker and one defender drone scenario where…