Submitted to IEEE ICRA 2027
Autonomous aerial refueling
Learned visual keypoints, EKF sensor fusion, and uncertainty-aware MPC for probe-and-drogue docking.
- Robotics
- Planning & Control
- Learning-Based Methods
- State Estimation
Research & Projects
Research papers, robot systems, and experiments.
17 projects
Projects can appear in more than one topic.
Submitted to IEEE ICRA 2027
Safe Flow Expansion
Conditional flow matching with control-barrier safety checks to discover new actions in unfamiliar environments.
- Robotics
- Planning & Control
- Learning-Based Methods
Submitted to IEEE RA-L
WRAP: robust robot localization
Adaptive noise models, including learned adapters, with Wasserstein-robust EKF/ESKF updates.
- Robotics
- Learning-Based Methods
- State Estimation
IEEE Conference on Decision and Control (CDC), 2026
Residual-aware distributionally robust EKF
A robust extended Kalman filter that accounts for noise mismatch and linearization error.
- Robotics
- State Estimation
Autonomous vehicles
Autonomous obstacle avoidance
YOLO perception, motion planning, and control deployed on a full-scale Polaris GEM e4.
- Robotics
- Planning & Control
Grand Award · 2024
Korea Robot Aircraft Competition
Led a 25-member team in VTOL design and flight testing; first place among 39 teams.
- Robotics
- Planning & Control
Robotic mechanisms
Origami-inspired landing gear
A length-adjustable mechanism, prototyped and tested on a flying quadrotor.
- Robotics
Sampling-based control
Adaptive tuning for MPPI control
Automatic inverse-temperature tuning for model predictive path integral control.
- Robotics
- Planning & Control
AIAA Design / Build / Fly
Autonomous glider landing
Landing control for a glider launched from a mothership at 100 m altitude.
- Robotics
- Planning & Control
Aircraft development
VTOL: first prototype
Building and testing a quadplane through hover and transition flight.
- Robotics
Model predictive control
Robust control for quadrotor delivery
Combining disturbance observers and MPC to account for unmodeled quadrotor dynamics.
- Robotics
- Planning & Control
Aircraft development
VTOL: competition platform
Design, integration, and autonomous flight testing with Team Bulnabi.
- Robotics
- Planning & Control
Teaching & hardware
Quadrotor build & fly seminars
Hands-on seminars covering assembly, calibration, flight experiments, and log analysis.
- Robotics
Preprint
Distributionally Robust Kalman Filter
Noise-centric Wasserstein ambiguity sets for robust filtering under uncertain process and measurement noise.
- State Estimation
IEEE Conference on Decision and Control (CDC), 2025
Steady-state distributionally robust Kalman filter
A constant-gain robust estimator obtained from a single offline optimization, with convergence guarantees.
- State Estimation
Preprint
Distributionally robust control & state estimation
Joint control and Kalman filtering for partially observed systems with uncertain disturbance and measurement distributions.
- Planning & Control
- State Estimation
Institute of Control, Robotics and Systems (ICROS), 2024
Disturbance-observer stability under model uncertainty
Stability conditions when a disturbance observer's nominal model and the true system have different orders.
- Planning & Control