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Autonomy Behaviors
Autonomy Behaviors
- Expand the behavior capabilities of autonomous systems.
Selected papers
Applied research
Selected papers
Applied research
Eunhyek Joa, Eric Yongkeun Choi, and Francesco Borrelli. "Energy-efficient predictive control for connected, automated driving under localization uncertainty." IEEE Transactions on Intelligent Vehicles (2024).
S. H. Nair*, H. Lee*, Eunhyek Joa*, et al. "Predictive control for autonomous driving with uncertain, multimodal predictions." IEEE transactions on control systems technology 33.4 (2024): 1178-1192.
Eunhyek Joa*, H. Lee*, et al. "Energy-efficient lane changes planning and control for connected autonomous vehicles on urban roads." 2023 IEEE Intelligent Vehicles Symposium (IV).
Shengfan Cao, Eunhyek Joa, and Francesco Borrelli. "A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racing." 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Theoretical Works
Theoretical Works
Eunhyek Joa and Francesco Borrelli. "Approximate solution of stochastic infinite horizon optimal control problems for constrained linear uncertain systems." IEEE Transactions on Automatic Control (2025).
Eunhyek Joa et al. "Piecewise affine relaxation of discrete value functions in learning model predictive control with application to autonomous racing." IEEE Control Systems Letters 8 (2024): 2187-2192.
Eunhyek Joa, Monimoy Bujarbaruah, and Francesco Borrelli. "Output Feedback Stochastic MPC with Hard Input Constraints." 2023 American Control Conference.
Vehicle Dynamics and Control
Vehicle Dynamics and Control
- Save lives on slippery roads by pushing the limits of vehicle handling.
Selected papers
Selected papers
Eunhyek Joa et al. "A new control approach for automated drifting in consideration of the driving characteristics of an expert human driver." Control Engineering Practice 96 (2020): 104293.
Eunhyek Joa et al. "Model predictive control based stability control of autonomous vehicles on low friction road." 2020 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2020.
Eunhyek Joa et al. "Four-wheel independent brake control to limit tire slip under unknown road conditions." Control Engineering Practice 76 (2018): 79-95.
Eunhyek Joa, Kyongsu Yi, and Youngjin Hyun. "Estimation of the tire slip angle under various road conditions without tire–road information for vehicle stability control." Control Engineering Practice 86 (2019): 129-143.
Eunhyek Joa, Kyongsu Yi, and Kilsoo Kim. "A lateral driver model for vehicle–driver closed-loop simulation at the limits of handling." Vehicle system dynamics 53.9 (2015): 1247-1268.
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