Journals
Beomjun. Kim and Heejin Ahn, "Chance-constrained optimal control with imperfect perception," Under review.
Y. Wang, E. Hansen, and H. Ahn, "Hierarchical planning for autonomous parking in dynamic environments," Under review.
K. Ren, H. Ahn, and M. Kamgarpour, "Chance-constrained trajectory planning with multimodal environmental uncertainty," IEEE Control Systems Letters, June 2022, Early Access. [link]
Y. Ma, J. Guo, Y. Wang, A. Chakrabarty, H. Ahn, P. Orlik, and C. Lu, “Optimal dynamic transmission scheduling for wireless networked control systems,” IEEE Transactions on Control Systems Technology, Jan. 2022, Early Access. [link]
H. Ahn, C. Chen, I. M. Mitchell, and M. Kamgarpour, "Safe motion planning against multimodal distributions based on a scenario approach," IEEE Control Systems Letters, vol.6, pp. 1142-1147, June 2021. (Presented at IEEE Conference on Decision and Control) [link]
H. Ahn, K. Berntorp, P. Inani, A. Ram, and S. Di Cairano, "Reachability-based decision making for autonomous driving: Theory and experiment," IEEE Transactions on Control Systems Technology, vol. 29, no. 5, pp. 1907-1921, Sep. 2021. [link]
H. Ahn and A. Colombo, "Abstraction-based safety verification and control of cooperative vehicles at road intersections," IEEE Transactions on Automatic Control, vol. 65, no. 10, pp. 4061-4074, Oct. 2020. [link]
H. Ahn, A. Rizzi, and A. Colombo, "Robust supervisors for intersection collision avoidance in the presence of legacy vehicles," International Journal of Control, Automation, and Systems, vol. 18, no. 2, pp.384–393, Feb. 2020. [link]
H. Ahn and D. Del Vecchio, "Safety verification and control for collision avoidance at road intersections," IEEE Transactions on Automatic Control, vol. 63, no. 3, pp.630–642, Mar. 2018. [link]
Y. Park, J. Lee, S. Jeon, H. Ahn, J. Koh, J. Ryu, M. Cho, and K. Cho, "Dual-stiffness structures with reconfiguring mechanism: Design and investigation," Journal of Intelligent Material Systems and Structures, vol. 27, no. 8, pp. 995–1010, May 2016. [link]
Conference Proceedings
H. Ahn, K. Berntorp, S. Di Cairano, "Cooperating modular goal selection and motion planning for autonomous driving," In Proc. IEEE Conference on Decision and Control (CDC), Invited paper, Dec. 2020, pp. 3481-3486. [link]
G. Lee, J. Guo, K. Kim, P. Orlik, H. Ahn, S. Di Cairano, and W. Saad, "Edge computing for interconnected intersections in Internet of Vehicles," In Proc. IEEE Intelligent Vehicles Symposium (IV), Oct. 2020, pp. 480-486. [link]
H. Ahn and C. Danielson, "Moving horizon sensor selection for reducing communication costs in Internet of Vehicles," In Proc. American Control Conference (ACC), July 2019, pp. 1464–1469. [link]
F. Ye, J. Guo, K. Kim, P. Orlik, H. Ahn, S. Di Cairano, and M. Barth, "Bilevel optimal edge computing model for on-ramp merging in connected vehicle environment," In Proc. IEEE Intelligent Vehicles Symposium (IV), June 2019, pp. 2005–2011. [link]
Y. Ma, J. Guo, Y. Wang, A. Chakrabarty, H. Ahn, P. Orlik, and C. Lu, "Optimal dynamic scheduling of wireless networked control systems," In Proc. ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Apr. 2019, pp. 77–86. [link]
H. Ahn, K. Berntorp, and S. Di Cairano, "Reachability-based decision making for city driving," In Proc. American Control Conference (ACC), Invited paper, June 2018, pp. 3203–3208. [link]
L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S. Liu, M. Novitzky, I. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. Del Vecchio, D. Rus, J. How, J. Leonard, A. Censi, “Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research,” In Proc. IEEE International Conference on Robotics and Automation (ICRA), June 2017, pp. 1497-1504. [link]
H. Ahn and D. Del Vecchio, "Semi-autonomous intersection collision avoidance through job-shop scheduling," In Proc. ACM International Conference on Hybrid Systems: Computation and Control (HSCC), Apr. 2016, pp. 185-194. [link]
H. Ahn, A. Rizzi, A. Colombo, and D. Del Vecchio, "Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed," In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2015, pp. 4834-4839. [link]
H. Ahn, A. Colombo, and D. Del Vecchio, "Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles," In Proc. American Control Conference (ACC), June 2014, pp. 867-873. (Best Presentation in Session) [link]
Patents
J. Guo, G. Lee, K. Kim, P. Orlik, H. Ahn, and S. Di Cairano, "Adaptive control of vehicular traffic," U.S. Patent application publication, US 2021/0233396 A1, Jul. 29, 2021. [link]
H. Ahn and C. Danielson, "Receding horizon state estimator," U.S. Patent, US 11124196, Sep. 21, 2021. [link]
J. Guo, F. Ye, K. Kim, P. Orlik, H. Ahn, and S. Di Cairano, "Joint control of vehicles traveling on different intersecting roads" U.S. Patent application publication, US 2020/0294395 A1, Sep. 17, 2020. [link]
J. Guo, Y. Ma, Y. Wang, A. Chakrabarty, H. Ahn, and P. Orlik, "Network adapted control system," U.S. Patent, US 10969767, Apr. 6, 2021. [link]
S. Di Cairano, K. Berntorp, and H. Ahn, "System and method for safe decision making of autonomous vehicles," U.S. Patent, US 10860023, Dec. 8, 2020. [link]
S. Di Cairano, K. Berntorp, and H. Ahn, "Control system of vehicle, method for controlling vehicle, and non-transitory computer readable memory," European Patent, EP 3610345, Oct. 28, 2020. [link]
Poster Presentations
H. Ahn and D. Del Vecchio, “A semi-autonomous algorithm for multi-vehicle collision avoidance at intersections,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2015.
H. Ahn and D. Del Vecchio, “Supervisory control for (multi-conflict) intersection collision avoidance in heterogeneous environments,” IEEE Symposium on Control of Network Systems (SCONES), Boston, MA, 2014.