Journals

  1. Hierarchical planning for autonomous parking in dynamic environments
    Y. Wang, E. Hansen, and H. Ahn
    IEEE Transactions on Control Systems Technology, Conditionally accepted
  2. Chance-constrained trajectory planning with multimodal environmental uncertainty
    K. Ren, H. Ahn, and M. Kamgarpour
    IEEE Control Systems Letters, June 2022
    [Link]
  3. Optimal dynamic transmission scheduling for wireless networked control systems
    Y. Ma, J. Guo, Y. Wang, A. Chakrabarty, H. Ahn, P. Orlik, and C. Lu
    IEEE Transactions on Control Systems Technology, Nov. 2022
    [Link]
  4. Safe motion planning against multimodal distributions based on a scenario approach
    H. Ahn, C. Chen, I. M. Mitchell, and M. Kamgarpour
    IEEE Control Systems Letters, June 2021
    Presented at IEEE Conference on Decision and Control
    [Link]
  5. Reachability-based decision making for autonomous driving: Theory and experiment
    H. Ahn, K. Berntorp, P. Inani, A. Ram, and S. Di Cairano
    IEEE Transactions on Control Systems Technology, Sep. 2021
    [Link]
  6. Abstraction-based safety verification and control of cooperative vehicles at road intersections
    H. Ahn and A. Colombo
    IEEE Transactions on Automatic Control, Oct. 2020
    [Link]
  7. Robust supervisors for intersection collision avoidance in the presence of legacy vehicles
    H. Ahn, A. Rizzi, and A. Colombo
    International Journal of Control, Automation, and Systems, Feb. 2020
    [Link]
  8. Safety verification and control for collision avoidance at road intersections
    H. Ahn and D. Del Vecchio
    IEEE Transactions on Automatic Control, Mar. 2018
    [Link]
  9. Dual-stiffness structures with reconfiguring mechanism: Design and investigation
    Y. Park, J. Lee, S. Jeon, H. Ahn, J. Koh, J. Ryu, M. Cho, and K. Cho
    Journal of Intelligent Material Systems and Structures, May 2016
    [Link]

Conference Proceedings

  1. Chance-constrained optimal control with imperfect perception
    Beomjun Kim and Heejin Ahn
    American Control Conference (ACC), To appear
  2. Cooperating modular goal selection and motion planning for autonomous driving
    H. Ahn, K. Berntorp, S. Di Cairano
    IEEE Conference on Decision and Control (CDC), Dec. 2020
    [Link]
  3. Edge computing for interconnected intersections in Internet of Vehicles
    G. Lee, J. Guo, K. Kim, P. Orlik, H. Ahn, S. Di Cairano, and W. Saad
    IEEE Intelligent Vehicles Symposium (IV), Oct. 2020
    [Link]
  4. Moving horizon sensor selection for reducing communication costs in Internet of Vehicles
    H. Ahn and C. Danielson
    American Control Conference (ACC), July 2019
    [Link]
  5. Bilevel optimal edge computing model for on-ramp merging in connected vehicle environment
    F. Ye, J. Guo, K. Kim, P. Orlik, H. Ahn, S. Di Cairano, and M. Barth
    IEEE Intelligent Vehicles Symposium (IV), June 2019
    [Link]
  6. Optimal dynamic scheduling of wireless networked control systems
    Y. Ma, J. Guo, Y. Wang, A. Chakrabarty, H. Ahn, P. Orlik, and C. Lu
    ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Apr. 2019
    [Link]
  7. Reachability-based decision making for city driving
    H. Ahn, K. Berntorp, and S. Di Cairano
    American Control Conference (ACC), Invited paper, June 2018
    [Link]
  8. Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research
    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
    IEEE International Conference on Robotics and Automation (ICRA), June 2017
    [Link]
  9. Semi-autonomous intersection collision avoidance through job-shop scheduling
    H. Ahn and D. Del Vecchio
    ACM International Conference on Hybrid Systems: Computation and Control (HSCC), Apr. 2016
    [Link]
  10. Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed
    H. Ahn, A. Rizzi, A. Colombo, and D. Del Vecchio
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2015
    [Link]
  11. Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles
    H. Ahn, A. Colombo, and D. Del Vecchio
    American Control Conference (ACC), June 2014
    [Link]

Patents

  1. U.S. Patent 11328589 "Adaptive control of vehicular traffic"
    J. Guo, G. Lee, K. Kim, P. Orlik, H. Ahn, and S. Di Cairano
    Granted on May 10, 2022
    [Link]
  2. U.S. Patent 11145197 "Joint control of vehicles traveling on different intersecting roads"
    J. Guo, F. Ye, K. Kim, P. Orlik, H. Ahn, and S. Di Cairano
    Granted on October 12, 2021
    [Link]
  3. U.S. Patent 11124196 "Receding horizon state estimator"
    H. Ahn and C. Danielson
    Granted on September 21, 2021
    [Link]
  4. U.S. Patent 10969767 "Network adapted control system"
    J. Guo, Y. Ma, Y. Wang, A. Chakrabarty, H. Ahn, and P. Orlik
    Granted on April 06, 2021
    [Link]
  5. U.S. Patent 10860023 "Systems and methods for safe decision making of autonomous vehicles"
    S. Di Cairano, K. Berntorp, and H. Ahn
    Granted on December 08, 2020
    [Link]