• Hyunchul Bae, Minhee Kang, and Heejin Ahn, "ParCon: Noise-Robust Collaborative Perception via Multi-module Parallel Connection," 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. [link]

• Beomjun Kim, Kangyeon Kim, Sunwoo Kim, and Heejin Ahn, "A Domain-Agnostic Scalable AI Safety Ensuring Framework," Under Review. [link]

• Hyunchul Bae, Eunjae Lee, Jehyeop Han, Minhee Kang, Jaehyeon Kim, Junggeun Seo, Minkyun Noh, Heejin Ahn, "Miniature Testbed for Validating Multi-Agent Cooperative Autonomous Driving," Under Review. [link]

2025

• Hyeongchan Ham, Heejin Ahn, "DRO-EDL-MPC: Evidential Deep Learning-Based Distributionally Robust Model Predictive Control for Safe Autonomous Driving," IEEE Robotics and Automation Letters, Accepted. [link]  [project page] 

• Minhee Kang, Yoojin Choi, Eunseo Choi, and Heejin Ahn, "Shockwave Minimization within the Mesoscopic: Infrastructure-guided Optimal Acceleration for Autonomous Vehicle," In Proc. IEEE International Conference on Intelligent Transportation Systems (ITSC), 2025. To appear.

• Beomjun Kim, Jaehwan Kim, Kangyeon Kim, Sunwoo Kim, and Heejin Ahn, "A Computation-efficient Method of Measuring Dataset Quality based on the Coverage of the Dataset," In Proc. International Conference on Artificial Intelligence and Statistics (AISTATS), May. 2025. [link]

• Jongseok Kim, Seongil Kim, Duck-Su Lee, Heejin Ahn, and Ki-Bum Park, "MW-rated Induction Motor Control equipped with Fault-Ride-Through Capability for an Electric Propulsion Ship using Model Predictive Control," In Proc. IEEE Energy Conversion Congress and Exposition (ECCE), 2025. [link]

2024

• Kai Ren, Colin Chen, Hyeontae Sung, Heejin Ahn*, Ian Mitchell, and Maryam Kamgarpour, "Recursively Feasible Chance-constrained Model Predictive Control under Gaussian Mixture Model Uncertainty," IEEE Transactions on Control Systems Technology (Early Access), Nov. 2024. [arxiv] [IEEE Xplore]

• Hyunchul Bae, Minhee Kang, Minwoo Song, and Heejin Ahn, "Rethinking the Role of Infrastructure in Collaborative Perception," In Proc. European Conference on Computer Vision Workshop (ECCVW) [oral], Sep. 2024. [link]

• 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]

• 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]

Before 2024

• Beomjun Kim and Heejin Ahn, "Chance-Constrained Control with Imperfect Perception Modules," In Proc. American Control Conference (ACC), June 2023, pp. 2568-2573. [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,” IEEE Transactions on Control Systems Technology, vol. 30, no. 6, pp. 2360-2376, Nov. 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, 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 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 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]

• 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]

• 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]

• 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]

• 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]

• Junyoung Park, Hyeontae Sung, and Heejin Ahn. (2025). 제어 장벽 함수를 이용한 샘플링 기반 안전 필터 연구. 한국통신학회 인공지능 학술대회 논문집, 제주.

• Hyeongchan Ham and Heejin Ahn. (2025). 시각 정보를 이용한 3DGS 기반 안전 경로 계획. 한국통신학회 인공지능 학술대회 논문집, 제주.

• Eunjae Lee, Minhee Kang, Yoojin Choi, and Heejin Ahn. (2025). 비신호 교차로 다중 차량 제어를 위한 GPT 기반 Decision Transformer 연구. 제어로봇시스템학회 국내학술대회 논문집, 전북.

• Jehyeop Han, Junggeun Seo, Jaehyeon Kim, Hyunchul Bae, Eunjae Lee, Minkyun Noh, Heejin Ahn. (2025). 도심 자율주행 기술 검증을 위한 1:15 스케일 테스트베드 개발 Part I : 다중 차량 시스템 설계 및 적용. 제어로봇시스템학회 국내학술대회 논문집, 전북.

• Minhee Kang, Eunjae Lee, Yoojin Choii, and Heejin Ahn. (2025). 차량 간 통신 기반 비신호교차로 내 협력형 자율주행차량 전략 개발. 한국자동차공학회 춘계학술대회, 제주.

• Hyeongchan Ham and Heejin Ahn. (2025). 안전한 자율 로봇 제어를 위한 모델 예측 제어와 강화 학습 기술 개발 동향 및 사례 분석. 제어로봇시스템학회지, 31(1), 6-12.

• Hyeongchan Ham and Heejin Ahn. (2025). 안전한 모델 예측 제어와 강화 학습에 대한 연구 동향. 제어로봇시스템학회 논문지, 31(2), 87-97.

• Heejin Ahn. (2025). 특집호 서문: 학습 기반 모델 예측 제어. 제어로봇시스템학회 논문지, 31(2), 77-77. 10.5302/J.ICROS.2025.25.9001

• Hyeontae Sung, Eunseo Choi, and Heejin Ahn. (2024). Optimal Acceleration Profiles of Multiple Vehicles Using Model Predictive Control. 제어로봇시스템학회 국내학술대회 논문집, 대전.

• Hyeontae Sung, Kangyeon Kim, and Heejin Ahn. (2024). Computation Analysis on Safe Chance-constrained Model Predictive Control under Gaussian Mixture Uncertainty. 제어로봇시스템학회 국내학술대회 논문집, 대전.

• Hyunchul Bae, Eunjae Lee, Sein Lee, Jehyeop Han, and Heejin Ahn. (2024). 도심 자율주행 기술 검증을 위한 소형 테스트베드. 한국 ITS 학회 학술대회, 804-808.

• Yoojin Choi and Heejin Ahn. (2024). 예약 기반 교차로 제어 시스템에 횡단보도의 영향의 분석. 한국 ITS 학회 학술대회, 76-79.

• Eunjae Lee, Hyunchul Bae, Sein Lee, and Heejin Ahn. (2024). Model Predictive Control 기반 1:15 scale RC car 의 경로 추종 성능 향상. 한국 ITS 학회 학술대회, 405-409.

• Heejin Ahn, Hyunchul Bae, Minhee Kang, "협력 인식 모듈의 병렬적 연결에 기초하여 객체를 탐지하는 방법 및 장치", 대한민국, 출원번호: 10-2024-0163570, Nov. 15, 2024. 

• Heejin Ahn, Yoojin Choi, Minhee Kang, Youngki Kim, "차량간 추천 간격 산출 방법 및 이를 수행하기 위한 컴퓨팅 장치", 대한민국, 출원번호: 10-2024-0163174, Nov. 15, 2024. 

• Heejin Ahn, Hyunchul Bae, Minhee Kang, Minwoo Song, "인프라 중심의 협동 인지 시스템을 통한 물체 탐지 정확도 증강 방법 및 시스템", 대한민국, 출원번호: 10-2024-0160273, Nov. 12, 2024. 

• 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, Oct. 12, 2021. [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]