Hyunchul Bae, Minhee Kang, and Heejin Ahn, "V2X-M2C: Efficient Multi-Module Collaborative Perception with Two Connections," Under Review. [link]

Eunjae Lee, Minhee Kang, Yoojin Choi, and Heejin Ahn, "A GPT-based Decision Transformer for Multi-Vehicle Coordination at Unsignalized Intersections," Under Review.

Kai Ren, Colin Chen, Hyeontae Sung, Heejin Ahn*, Ian Mitchell, and Maryam Kamgarpour, "Safe Chance-constrained Model Predictive Control under Gaussian Mixture Model Uncertainty," Accepted. [link]

Y. Wang, E. Hansen, and H. Ahn, "Hierarchical planning for autonomous parking in dynamic environments," IEEE Transactions on Control Systems Technology, vol. 32, no. 4, pp. 1386-1398, July 2024. [link]

K. Ren, H. Ahn, and M. Kamgarpour, "Chance-constrained trajectory planning with multimodal environmental uncertainty," IEEE Control Systems Letters, vol. 7, pp. 13-18, June 2022. (Presented at IEEE Conference on Decision and Control) [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,” vol. 30, no. 6, IEEE Transactions on Control Systems Technology, Jan. 2022. [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]

Hyunchul Bae, Minhee Kang, Minwoo Song, and Heejin Ahn, "Rethinking the Role of Infrastructure in Collaborative Perception," European Conference on Computer Vision Workshop (ECCVW), 2024, To appear.

Yoojin Choi, Minhee Kang, and Heejin Ahn, "Infrastructure-guided Optimal Spacing for Vehicles Approaching Intersections," In Proc. IEEE Intelligent Vehicles Symposium (IV), June 2024. [link]

Beomjun Kim and Heejin Ahn, "Chance-Constrained Control with Imperfect Perception Modules," In Proc. American Control Conference (ACC), June 2023, pp. 2568-2573. [link]

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]

J. Guo, G. Lee, K. Kim, P. Orlik, H. Ahn, and S. Di Cairano, "Adaptive control of vehicular traffic," U.S. Patent application publication, US11328589, WO2021153638, JP7334365, CN115004275, EP4097707, Jul. 29, 2021. [link] 

H. Ahn and C. Danielson, "Receding horizon state estimator," US11124196, WO2021002475, JP7258233, CN114126944, EP3994626, 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," US11145197, WO2020183918, JP7214017, EP3776512. [link]

J. Guo, Y. Ma, Y. Wang, A. Chakrabarty, H. Ahn, and P. Orlik, "Network adapted control system," US10969767, WO2020141576, JP7199565, CN113227923, EP3906446, Apr. 6, 2021. [link]

S. Di Cairano, K. Berntorp, and H. Ahn, "System and method for safe decision making of autonomous vehicles," US10860023, WO2020003556, JP7150067, CN112292646, EP3610345, Dec. 8, 2020. [link]