Publications

My research has been published in the following peer-reviewed journals and conference proceedings:

• • Journals (2): TAC (1), RA-L (1)
  • Conferences (9): WAFR (1), CoRL (1), CDC (3), ACC (2), IFAC WC(1), NecSys (1)

Preprints

[P1] Haimin Hu, David Isele, Sangjae Bae and Jaime F. Fisac, “Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach.” Submitted to a journal, 2023.  [Paper]  [Video]

Journal Papers

[J2] Haimin Hu, Kensuke Nakamura and Jaime F. Fisac, “SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction.” IEEE Robotics and Automation Letters (RA-L), 2022.  [Paper]  [Code]  [Video]  [Homepage]  [Poster]

[J1] Mo Chen*, Sylvia L. Herbert*, Haimin Hu, Ye Pu, Jaime F. Fisac, Somil Bansal, SooJean Han, Claire J. Tomlin, “FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking.” IEEE Transactions on Automatic Control (TAC), 2021.  [Paper]  [Slides]

Conference Papers

[C9] Haimin Hu and Jaime F. Fisac, “Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach.” Algorithmic Foundations of Robotics XV (WAFR), 2022. Invited to IJRR. [Paper] [Code] [Video] [Homepage]

[C8] Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu and Nikolai Matni, “Learning Hybrid Control Barrier Functions from Data.” Conference on Robot Learning (CoRL), 2020.  [Paper]  [Video]  [Code]

[C7] Haimin Hu, Mahyar Fazlyab, Manfred Morari and George J. Pappas, “Reach-SDP: Reachability Analysis of Closed-Loop Systems with Neural Network Controllers via Semidefinite Programming.” 59th IEEE Conference on Decision and Control (CDC), 2020.  [Paper]

[C6] Alexander Robey*, Haimin Hu*, Lars Lindemann, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu and Nikolai Matni, “Learning Control Barrier Functions from Expert Demonstrations.” 59th IEEE Conference on Decision and Control (CDC), 2020.  [Paper]  [Code]

[C5] Haimin Hu, Konstantinos Gatsis, Manfred Morari and George J. Pappas, “Non-Cooperative Distributed MPC with Iterative Learning.” 21st IFAC World Congress, 2019.  [Paper]  [Slides]  [Video]

[C4] Haimin Hu, Konstantinos Gatsis, Manfred Morari and George J. Pappas, “Tuning Communication Latency for Distributed Model Predictive Control.” 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys), 2019.  [Paper]  [Poster]

[C3] Xuhui Feng, Haimin Hu, Mario E. Villanueva and Boris Houska, “Min-max Differential Inequalities for Polytopic Tube MPC.” American Control Conference (ACC), 2019.  [Paper]  [Slides]  [Video]

[C2] Haimin Hu, Ye Pu, Mo Chen and Claire J. Tomlin, “Plug and Play Distributed Model Predictive Control for Heavy Duty Vehicle Platooning and Interaction with Passenger Vehicles.” 57th IEEE Conference on Decision and Control (CDC), 2018.  [Paper]  [Slides]

[C1] Haimin Hu, Xuhui Feng, Rien Quirynen, Mario E. Villanueva and Boris Houska, “Real-Time Tube MPC Applied to a 10-State Quadrotor Model.” American Control Conference (ACC), 2018.  [Paper]  [Slides]  [Errata]