Journal and Conference papers Under Review

  1. Xingxing Zuo, Nikhil Ranganathan, Connor Lee, Georgia Gkioxari, and Soon-Jo Chung, “MonoTher-Depth: Enhancing Thermal Depth Estimation via Confidence-Aware Distillation,” IEEE Robotics and Automation Letters, under review, 2024.

Journal Papers

  1. B. Riviere*, J. Lathrop*, and S.-J. Chung, “Monte Carlo tree search with spectral expansion for planning with dynamical systems,” Science Robotics, eado1010, December 2024. Cover article, * co-first authors. (Paper)
    (Caltech news story), (short video), (long video).

  2. D. Lapandić, F. Xie, C. Verginis, S.-J. Chung, D. V. Dimarogonas, and B. Wahlberg, “Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors,” IEEE Control Systems Letters, to appear.

  3. E. S. Lupu*, F. Xie*, J. Preiss, J. Alindogan, M. Anderson, and S.-J. Chung, “MAGIC VFM -Meta-Learning Adaptation for Ground Interaction Control with Visual Foundation Models,” IEEE Transactions on Robotics, vol. 41, October 2024, pp. 180-199. * co-first authors. (PDF)

  4. H. Tsukamoto, S.-J Chung, B. Donitz, M. Ingham, D. Mages, and Y. Nakka, “Neural-Rendezvous: Provably Robust Guidance and Control to Encounter Interstellar Objects,” Journal of Guidance, Control, and Dynamics, to appear, 2024.

  5. J. Ragan, B. Riviere, F. Y. Hadaegh, and S.-J. Chung, “Online Tree-based Planning for Active Spacecraft Fault Estimation and Collision Avoidance,” Science Robotics, vol. 9, no. 93, 28 August 2024. (Paper), Caltech press release, (YouTube Video)

  6. M O’Connell, J. Cho*, M. Anderson, and S.-J. Chung, “Learning-based Minimally-Sensed Fault-Tolerant Adaptive Flight Control,” IEEE Robotics and Automation Letters, published online, April 2024. https://ieeexplore.ieee.org/document/10502204. * co-first authors. (Youtube video) (Caltech press release)

  7. S.J. Han, S.-J. Chung, and J. C. Doyle, “Predictive Control of Linear Discrete-Time Markovian Jump Systems by Learning Recurrent Patterns,” Automatica, vol. 156, October 2023, 111197. (PDF)

  8. K. Matsuka and S.-J. Chung, “Localized and Incremental Probabilistic Inference for Large-Scale Networked Dynamical Systems,” IEEE Transactions on Robotics, vol. 39, no. 5, October 2023, pp. 3516-3535. (PDF)

  9. E. Tang and S.-J. Chung, “Experiments and Modeling of the Ceiling Effect with Drone-Scale Propellers,” AIAA Journal, vol. 61, no. 8, 2023, pp. 3579-3597. https://arc.aiaa.org/doi/full/10.2514/1.J062568

  10. K. X. Cai, T. Phan-Minh, S.-J. Chung, and R. M. Murray, “Rules of the Road: Formal Guarantees for Autonomous Vehicles with Behavioral Contract Design,” IEEE Transactions on Robotics, vol. 39, no. 3, June 2023, pp. 1853-1872. https://ieeexplore.ieee.org/document/10066157

  11. E. Tang and S.-J. Chung, “Rapid Extraction of Propeller Geometry Using Photogrammetry,” International Journal of Micro Air Vehicles, vol. 14, 2022. https://doi.org/10.1177/17568293221132044

  12. M. Duffy, S.-J. Chung, and L. B. Bergman, “A General Bayesian Nonlinear Estimation Method Using Resampled Smooth Particle Hydrodynamics Solutions of the Underlying Fokker-Planck Equation,” International Journal of Non-Linear Mechanics, vol. 146, November 2022, 104134. (PDF)

  13. Y. K. Nakka and S.-J. Chung, “Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning Under Uncertainty,” IEEE Transactions on Robotics, vol. 39, no. 1, Feb 2023, pp. 203-222. (PDF) (YouTube Video)

  14. S.J. Han and S.-J. Chung, “Incremental Nonlinear Stability Analysis of Stochastic Systems Perturbed by Lévy Noise,” International Journal of Robust and Nonlinear Control, vol. 32, no. 12, August 2022, pp. 7174-7201. (PDF)

  15. M. O’Connell*, G. Shi*, X. Shi, K. Azizzadenesheli, A. Anandkumar, Y. Yue, and S.-J, Chung, “Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds,” Science Robotics, vol 7, No. 66, May 4, 2022. (Paper) (Arxiv with supp materials)
    *    These authors contributed equally to this work and are listed in alphabetical order.
    (Caltech press release) (YouTube video 1) (YouTube video 2)

  16. Y. K. Nakka, W. Hoenig, C. Choi, A. Harvard, A. Rahmani, and S.-J. Chung, “Information-based Guidance and Control Architecture for Multi-Spacecraft On-Orbit Inspection,” Journal of Guidance, Control, and Dynamics, vol. 45, no. 7, July 2022, pp. 1184-1201. https://doi.org/10.2514/1.G006278

  17. K. Kim*, P. Spieler*, E. S. Lupu, A. Ramezani, and S.-J. Chung, “A Bipedal Walking Robot that Can Fly, Slackline, and Skateboard,” Science Robotics (AAAS), Vol. 6, Issue 59, eabf8136, 2021. (Link) October 2021 Cover Article. (YouTube Video) (Caltech News)
    *    These authors contributed equally to this work.

  18. H. Tsukamoto, S.-J. Chung, and J.-J. E. Slotine, “Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview,” Annual Reviews in Control, vol. 52, 2021, pp. 135-169. (PDF)

  19. V. Capuano, A. Harvard, and S.-J. Chung, “On-board Cooperative Spacecraft Relative Navigation Fusing GNSS with Vision,” Progress in Aerospace Sciences, vol. 128, January 2022. (PDF)

  20. B. Riviere, W. Hoenig, M. Anderson, and S.-J. Chung, “Neural Tree Expansion for Multi-Robot Planning in Non-Cooperative Environments,” IEEE Robotics and Automation Letters, vol. 6, no. 4, Oct. 2021, pp. 6868-6875. (PDF)

  21. B. Riviere and S.-J. Chung, “H-TD2: Hybrid Temporal Difference Learning for Adaptive Urban Taxi Dispatch,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 8, August 2022, pp. 10935-10944. (PDF)

  22. H. Tsukamoto and S.-J. Chung, “Learning-based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach,” IEEE Robotics and Automation Letters, vol. 6, no. 4, Oct. 2021, pp. 6164-6171. (PDF)

  23. A. T. Fragoso, C. T. Lee, A. S. McCoy, and S.-J. Chung, “A Seasonally-Invariant Deep Transform for Visual Terrain-Relative Navigation,” Science Robotics (AAAS), Vol. 6, Issue 55, eabf3320, 2021. (link to PDF download) (Caltech News)

  24. G. Shi, W. Hoenig, X. Shi, Y. Yue, and S.-J. Chung, “Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions,” IEEE Transactions on Robotics, vol. 38, no. 2, April 2022, pp. 1063-1079. (PDF) (Caltech News)

  25. H. Tsukamoto, S.-J. Chung, and J.-J. E. Slotine, “Neural Stochastic Contraction Metrics for Learning-based Control and Estimation,” IEEE Control Systems Letters, vol. 5, no. 5, November 2021, pp. 1825-1830. (PDF)

  26. H. Tsukamoto and S.-J. Chung, “Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization,” IEEE Transactions on Automatic Control, vol. 66, no. 10, October 2021. pp. 4731-4746. (PDF)

  27. Y. K. Nakka, A. Liu, G. Shi, A Anandkumar, Y. Yue, and S.-J. Chung, “Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems,” IEEE Robotics and Automation Letters, vol. 6, no. 2, April 2021, pp. 389-396. (PDF)

  28. K. Meier, S.-J. Chung, and S. Hutchinson, “River Segmentation for Autonomous Surface Vehicle Localization and River Boundary Mapping,” Journal of Field Robotics, vol. 38, no. 2, February 2021, pp. 192-211. (PDF) http://doi.org/10.1002/rob.21989

  29. A. A. Paranjape, S.-J. Chung, and H. H. Hilton, “Approximate Model for Cycle-Averaged Aerodynamic Forces, and its Application to Stability and Control of Bird-Scale Flapping-Wing Aircraft,” Mathematics in Engineering Science and Aerospace, vol. 11, no. 3, 2020. (PDF)

  30. H. Tsukamoto and S.-J. Chung, “Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach,” IEEE Control Systems Letters, vol. 5, no. 1, Jan. 2021, pp. 211-216. (PDF)

  31. K. Matsuka, A. O. Feldman, E. S. Lupu, S.-J. Chung, and F. Y. Hadaegh, “Decentralized Formation Pose Estimation for Spacecraft Swarms,” Advances in Space Research, vol. 67, no. 11, June 2021, pp. 3527-3545. (PDF) (YouTube Video)

  32. B. Rivière, W. Hoenig, Y. Yue, and S.-J. Chung, “GLAS: Global-to-Local Safe Autonomy Synthesis for Multi-Robot Motion Planning with End-to-End Learning,” IEEE Robotics and Automation Letters, vol. 5, no. 3, July 2020, pp. 4249-4256. Honorable Mention, IEEE RA-L Best Paper Award. (PDF) (YouTube Video) (Caltech News)

  33. R. C. Foust, E. S. Lupu, Y. K. Nakka, S.-J. Chung, and F. Y. Hadaegh, “Autonomous In-Orbit Satellite Assembly from a Modular Heterogeneous Swarm,” Acta Astronautica, Volume 169, April 2020, pp. 191-205. (PDF) (YouTube Video 1) (YouTube Video 2)

  34. R. C. Foust, S.-J. Chung, and F. Y. Hadaegh, “Optimal Guidance and Control with Nonlinear Dynamics Using Sequential Convex Programming,” Journal of Guidance, Control, and Dynamics, vol. 43, no. 4, April 2020, pp. 633-644. (PDF)

  35. V. Capuano, K. Kim, A. Harvard, and S.-J. Chung, “Monocular-Based Pose Determination of Uncooperative Space Objects,” Acta Astronautica, vol. 166, January 2020, pp. 493-506. (PDF)

  36. Y. K. Nakka, S.-J. Chung, J. T. Allison, J. B. Aldrich, and O. S. Alvarez-Salazar, "Nonlinear Attitude Control of a Spacecraft with Distributed Actuation of Solar Arrays," Journal of Guidance, Control, and Dynamics, vol. 42, no. 3, March 2019, pp. 458-475, 2019. (PDF)

  37. S.-J. Chung, A. A Paranjape, P. Dames, S. Shen, and V. Kumar, Guest Editorial Special Section on Aerial Swarm Robotics, IEEE Transactions on Robotics, vol. 34, no. 4, August 2018, pp. 835-836.

  38. S.-J. Chung, A. Paranjape, P. Dames, S. Shen, and V. Kumar, "A Survey on Aerial Swarm Robotics," IEEE Transactions on Robotics, vol. 34, no. 4, 2018, pp. 837-855. (PDF)

  39. S. Bandyopadhyay and S.-J. Chung, "Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks," Automatica, vol. 97, November 2018, pp. 7-17. (PDF)

  40. A. A. Paranjape, S.-J. Chung, K. Kim, and D. H. Shim, "Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle," IEEE Transactions on Robotics, vol. 34, no. 4, 2018, , pp. 901-915. (PDF) (YouTube Video)

  41. J. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, "Optimizing the Structure and Movement of a Robotic Bat with Biological Kinematic Synergies," The International Journal of Robotics Research, vol. 37, no. 10, 2018, pp. 1233-1252. (PDF)

  42. A. A. Paranjape and S-J. Chung, "Robust Adaptive Boundary Control of Semilinear PDE Systems Using a Dyadic Controller," International Journal of Robust and Nonlinear Control, vol. 28, no. 8, 2018, pp. 3174-3188. (PDF)

  43. M. Miller, S.-J. Chung, and S. Hutchinson, "The Visual-Inertial Canoe Dataset," The International Journal of Robotics Research, vol. 37, no. 1, 2018, pp. 13-20. (PDF)

  44. K. Meier, S.-J. Chung, and S. Hutchinson, "Visual-Inertial Curve Simultaneous Localization and Mapping: Creating a Sparse Structured World without Feature Points," Journal of Field Robotics, vol. 35, no. 4, 2018, pp. 516-544. (PDF) (Supplementary Video)

  45. C. M. Chilan, D. R. Herber, Y. K. Nakka, S.-J. Chung, J. T. Allison, J. B. Aldrich, and O. S. Alvarez-Salazar, "Co-Design of Strain-Actuated Solar Arrays for Spacecraft Precision Pointing and Jitter Reduction," AIAA Journal, vol. 55, no. 9, 2017, pp. 3180-3195. (PDF)

  46. A. Ramezani, S.-J. Chung, and S. Hutchinson, "A Biomimetic Robotic Platform to Study Flight Specializations of Bats," Science Robotics (AAAS), vol. 2, no. 3, eaal2505, February 2017, February 2017 Cover Article. (PDF) (YouTube Video) Highlighted in Nature, “A robot that flies like a bat,” Nature, 542, 140. In the top 5%

  47. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents," IEEE Transactions on Robotics, vol. 33, no. 5, 2017, pp. 1103-1123. (PDF) (Supplementary Video)

  48. M. Dorothy and S.-J. Chung, “Switched Systems with Multiple Invariant Sets,” Systems & Control Letters, vol. 96, October 2016, pp. 103–109. (PDF)

  49. D. Morgan, G. P. Subramanian, S.-J. Chung, and F. Y. Hadaegh, "Swarm Assignment and Trajectory Optimization Using Variable-Swarm, Distributed Auction Assignment and Sequential Convex Programming," The International Journal of Robotics Research, vol. 35, no. 10, September 2016, pp. 1261–1285. (PDF) (Supplementary Video) Preliminary version won 2015 AIAA GNC Best Paper Award.

  50. S. Bandyopadhyay, R. Foust, G. P. Subramanian, S.-J. Chung, and F. Y. Hadaegh, "Review of Formation Flying and Constellation Missions Using Nanosatellites," Journal of Spacecraft and Rockets, vol. 53, no. 3, 2016, pp. 567-578. (PDF)

  51. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Nonlinear Attitude Control of Spacecraft with a Large Captured Object," Journal of Guidance, Control, and Dynamics, vol. 39, no. 4, 2016, pp. 754-769. (PDF)

  52. J. Yang, A. Dani, S.-J. Chung, and S. Hutchinson, "Vision-Based Localization and Robot-Centric Mapping in Riverine Environments," Journal of Field Robotics, vol. 34, no. 3, 2017, pp. 429–450. (PDF) Supplementary Video

  53. A. A. Paranjape, K. C. Meier, X. Shi, S.-J. Chung, and S. Hutchinson, "Motion Primitives and 3D Path Planning for Fast Flight through a Forest," The International Journal of Robotics Research, vol. 34, no. 3, March 2015, pp. 357-377 (PDF) Supplementary Video

  54. A. P. Dani, S.-J. Chung, and S. Hutchinson, "Observer Design for Stochastic Nonlinear Systems via Contraction-based Incremental Stability," IEEE Transactions on Automatic Control, vol. 60, no. 3, March 2015, pp. 700-714. (PDF)

  55. J. Yu, S.-J. Chung, and P. G. Voulgaris, "Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies," IEEE Transactions on Automatic Control, vol. 60, no. 2, February 2015, pp. 327-341. (PDF)

  56. F. Y. Hadaegh, S.-J. Chung, and H. M. Manohara, "On Development of 100-Gram-Class Spacecraft for Swarm Applications," IEEE Systems Journal, vol. 10, no. 2, June 2016, pp. 673-684. (PDF)

  57. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming," Journal of Guidance, Control, and Dynamics, vol. 37, no. 6, 2014, pp. 1725-1740. (PDF)

  58. A. Paranjape, S.-J. Chung, and J. Kim, "Novel Dihedral-Based Control of Flapping-Wing Aircraft with Application to Perching," IEEE Transactions on Robotics, vol. 29, no. 5, October 2013, pp. 1071-1084. (PDF) Supplementary Video (See the media coverage)

  59. A. Paranjape, J. Guan, S.-J. Chung, and M. Krstic, "PDE Boundary Control for Flexible Articulated Wings on a Robotic Aircraft," IEEE Transactions on Robotics, vol. 29, no. 3, June 2013, pp. 625-640. (PDF)

  60. S.-J. Chung, S. Bandyopadhyay, I. Chang, and F. Y. Hadaegh, "Phase Synchronization Control of Complex Networks of Lagrangian Systems on Adaptive Digraphs," Automatica, vol. 49, no. 5, May 2013, pp. 1148-1161. (PDF)

  61. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. Bayard, and F. Y. Hadaegh, "Swarm-Keeping Strategies for Spacecraft under J2 and Atmospheric Drag Perturbations," Journal of Guidance, Control, and Dynamics, vol. 35, no. 5, September-October 2012, pp. 1492-1506. (PDF)

  62. A. A. Paranjape, M. R. Dorothy, S.-J. Chung, and K. D. Lee, "A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight," International Journal of Aeronautical and Space Sciences, vol. 13, no. 3, September, 2012, pp. 267-281. Invited Review Article (PDF)

  63. A. A. Paranjape, S.-J. Chung, H. H. Hilton, and A. Chakravarthy, "Dynamics and Performance of Tailless Micro Aerial Vehicle with Flexible Articulated Wings," AIAA Journal, vol. 50, no. 5, May 2012, pp. 1177-1188. (PDF)

  64. A. A. Paranjape, S.-J. Chung, and M. S. Selig, "Flight Mechanics of a Tailless Articulated Wing Aircraft," Bioinspiration & Biomimetics, vol. 6, 026005, 2011, (20 pp). (PDF)

  65. S.-J. Chung and M. Dorothy, "Neurobiologically Inspired Control of Engineered Flapping Flight," Journal of Guidance, Control, and Dynamics, vol. 33, no. 2, Mar.-Apr. 2010, pp. 440-453. AIAA Infotech@Aerospace Best Paper Award (PDF) Related video (RoboBat)

  66. K. Seo, S.-J. Chung, and J.-J. E. Slotine, "CPG-based Control of a Turtle-like Underwater Vehicle," Autonomous Robots, Special Issue on Control of Locomotion: From Animals to Robots, vol. 28, no. 3, pp. 247-269, 2010. (PDF)

  67. S.-J. Chung, and J.-J. E. Slotine, "Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems," IEEE Transactions on Robotics, vol. 25, no. 3, pp. 686-700, June 2009. (PDF)

  68. S.-J. Chung, U. Ahsun, and J.-J. E. Slotine, "Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach," Journal of Guidance, Control, and Dynamics, vol. 32, no. 2, Mar.-Apr. 2009, pp. 512-526. (PDF)

  69. S.-J. Chung, and D. W. Miller, "Propellant-Free Control of Tethered Formation Flight, Part 1: Linear Control and Experimentation," Journal of Guidance, Control, and Dynamics, vol. 31, no. 3, May-June 2008, pp. 571-584. (PDF)

  70. S.-J. Chung, J.-J. E. Slotine, and D. W. Miller, "Propellant-Free Control of Tethered Formation Flight, Part 2: Nonlinear Underactuated Control," Journal of Guidance, Control, and Dynamics, vol. 31, no. 5, September-October 2008, pp. 1437-1446. (PDF)

  71. S.-J. Chung, Jean-Jacques E. Slotine, and D. W. Miller, "Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight," Journal of Guidance, Control, and Dynamics, vol. 30, no. 2, 2007, pp. 390-400. (PDF)

  72. S.-J. Chung, D. W. Miller, and O. L. de Weck, "ARGOS Testbed: Study of Multidisciplinary Challenges of Future Spaceborne Interferometric Arrays," Optical Engineering, vol. 43, no. 9, September 2004, pp. 2156-2167. (PDF)

Conference Papers (partial list)

  1. Hiroyasu Tsukamoto, Joshua Ibrahim, Joudi Hajar, James Ragan, Soon-Jo Chung, and Fred Y. Hadaegh, “Robust Optimal Network Topology Switching for Zero Dynamics Attacks,” IEEE Conference on Decision and Control, 2024.

  2. Hiroyasu Tsukamoto, Joudi Hajar, Soon-Jo Chung, Fred Y. Hadaegh, “Regret-Optimal Defense against Stealthy Adversaries: A System Level Approach,” IEEE Conference on Decision and Control, 2024.

  3. John Lathrop, Benjamin Riviere, Jedidiah Alindogan, and Soon-Jo Chung, “Model Predictive Trees: Sample-Efficient Receding Horizon Planning with Reusable Tree Search,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

  4. Connor Lee, Saraswati Soedarmadji, Matthew Anderson, Anthony Clark, and Soon-Jo Chung, “Semantics from Space: Satellite-Guided Thermal Semantic Segmentation Annotation for Aerial Field Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

  5. Connor Lee, Matthew Anderson, Nikhil Ranganathan, Xingxing Zuo, Kevin Do, Georgia Gkioxari, and Soon-Jo Chung, “Caltech Aerial RGB-Thermal Dataset in the Wild,” European Conference on Computer Vision (ECCV), September 2024. (PDF)

  6. Hannah Grauer, Elena-Sorina Lupu, Connor Lee, Soon-Jo Chung, Darren Rowen, Benjamen Bycroft, Phaedrus Leeds, and John Brader, “Vision-Based Detection of Uncooperative Targets and Components on Small Satellites,” Small Satellite Conference, August 2024. (PDF)

  7. Yiheng Lin, James A. Preiss, Fengze Xie, Emile Anand, Soon-Jo Chung, Yisong Yue, and Adam Wierman, “Online Policy Optimization in Unknown Nonlinear Systems,” Annual Conference on Learning Theory (COLT 2024), 2024. (PDF)

  8. Fengze Xie, Guanya Shi, Michael O'Connell, Yisong Yue, and Soon-Jo Chung, “Hierarchical Meta-learning-based Adaptive Controller,” IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024. (PDF)

  9. Geeling Chau, Yujin An, Ahamed Raffey Iqbal, Soon-Jo Chung, Yisong Yue, Sabera Talukder, “Generalizability Under Sensor Failure: Tokenization + Transformers Enable More Robust Latent Spaces,” Computational and Systems Neuroscience (COSYNE), 2024. (PDF) *co-first authors.

  10. Sri Aditya Deevi, Connor Lee, Lu Gan, Sushruth Nagesh, Gaurav Pandey, and Soon-Jo Chung, “RGB-X Object Detection via Scene-Specific Fusion Modules,” 2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV 2024). (PDF) (Caltech EAS story)

  11. Hiroyasu Tsukamoto, Benjamin Rivière, Changrak Choi, Amir Rahmani, Soon-Jo Chung, “CaRT: Certified Safety and Robust Tracking in Learning-based Motion Planning for Multi-Agent Systems,” IEEE Conference on Decision and Control (CDC), Singapore, December 2023. (PDF)

  12. Connor Lee, Jonathan G. Frennert, Lu Gan, and Matthew Anderson, Soon-Jo Chung, “Online Self-Supervised Thermal Water Segmentation for Aerial Vehicles,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (PDF) 2023 IROS Best Paper Award on Agri-Robotics Finalist.

  13. SooJean Han, Soon-Jo Chung, Johanna Gustafson, “Congestion Control of Vehicle Traffic Networks by Learning Structural and Temporal Patterns,” 5th Annual Learning for Dynamics & Control (L4DC) Conference, 2023. (PDF)

  14. Lu Gan, Connor Lee, and Soon-Jo Chung, “Unsupervised RGB-to-Thermal Domain Adaptation via Multi-Domain Attention Network,” 2023 IEEE International Conference on Robotics and Automation (ICRA), London, UK, June 2023. (PDF)

  15. Se-Yeon Jeon, Brian Hawkins, Samuel Prager, Matthew Anderson, Stefano Moro, Robert Beauchamp, Eric Loria, Soon-Jo Chung, Marco Lavalle, “UAV-borne bistatic SAR and InSAR experiments in support of STV and SDC target observables,” 2023 IEEE International Geoscience and Remote Sensing Symposium (IGARSS), pages 1906-1909, 2023.

  16. Changrak Choi, Yashwanth Kumar Nakka, Amir Rahmani, Soon-Jo Chung, “Resilient Multi-Agent Collaborative Spacecraft Inspection,” IEEE Aerospace Conference, 2023.

  17. Benjamin PS Donitz, Declan Mages, Hiroyasu Tsukamoto, Peter Dixon, Damon Landau, Soon-Jo Chung, Erica Bufanda, Michel Ingham, Julie Castillo-Rogez, “Interstellar Object Accessibility and Mission Design,” IEEE Aerospace Conference, 2023.

  18. K. Matsuka, L. Zhang, I. Ragheb, C. Ohenzuwa, and S.-J. Chung, “High-fidelity, Closed-loop Simulation of Spacecraft Vision-based Relative Navigation in ROS2,” 33rd AAS/AIAA Space Flight Mechanics Meeting, 2023. (PDF)

  19. K. Matsuka, C. Ohenzuwa, and S.-J. Chung, “Rapid Synthetic Image Generation using Neural Radiance Fields for Vision-based Formation Flying Spacecraft,” 33rd AAS/AIAA Space Flight Mechanics Meeting, 2023. (PDF)

  20. James Ragan, Benjamin Riviere, Soon-Jo Chung, “Bayesian Active Sensing for Fault Estimation with Belief Space Tree Search,” AIAA Scitech, 2023. Winner of AIAA Guidance, Navigation, and Control Best Student Paper Award.

  21. Kaila Coimbra, Calle Junker, Lucas Pabarcius, Malcolm G Tisdale, Sravani Boggaram, Robert Daigle, Nathan Ng, Parul Singh, Tomas Wexler, Soon-Jo Chung, “Design of a Lunar Architecture for Tree Traversal in Service of Cabled Exploration,” AIAA Scitech Forum, 2023.

  22. Matthew Anderson, Kai Lehmkueler, Jeremy Randle, KC Wong, Soon-Jo Chung, “UAS Flight Testing in Support of Research for Academia: Getting Started and Experiences from the Fields,” AIAA Scitech, 2023.

  23. Samuel Prager, Brian Hawkins, Matthew Anderson, Soon-Jo Chung, Marco Lavalle, “Development of Ultra-Wideband Software Defined Radar Testbed to Support SAR Tomographic Mission Formulation,” IEEE International Geoscience and Remote Sensing Symposium, 2022.

  24. Chenkai Yu, Guanya Shi, Soon-Jo Chung, Yisong Yue, Adam Wierman, “Competitive control with delayed imperfect information,” American Control Conference (ACC), 2022.

  25. Malcom Tisdale, Isabella Dulá, Luis Pabon Madrid, Polina Verkhovodova, Jules Pénot, Kaila Coimbra, Leah Soldner, Tanmay Gupta, Rithvik Musuku, Soon-Jo Chung, “Design of a Modular and Orientable Electrodynamic Shield for Lunar Dust Mitigation,” AIAA SCITECH Forum, 2022.

  26. Ellande Tang, Soon-Jo Chung, “Experimental Studies of Propeller-Wing Interactions in Transition from Hover to Forward Flight,” AIAA SCITECH Forum, 2022.

  27. Daniel Neamati, Yashwanth Kumar K Nakka, Soon-Jo Chung, “Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness,” AIAA SCITECH Forum, 2022.

  28. G. Shi, K. Azizzadenesheli, M. O'Connell, S.-J. Chung, and Y, Yue, “Meta-Adaptive Nonlinear Control: Theory and Algorithms,” Neural Information Processing Systems (NeurIPS), 2021. (PDF)

  29. H. Tsukamoto, S.-J. Chung, J.-J. E. Slotine, and C. Fan, “A Theoretical Overview of Neural Contraction Metrics for Learning-Based Control with Guaranteed Stability,” Proc. IEEE Conference on Decision and Control (CDC), December 2021. (PDF)

  30. S. Singh, H. Tsukamoto, B. Lopez, S.-J. Chung, and J.-J. E. Slotine, “Safe Motion Planning with Tubes and Contraction Metrics,” Proc. IEEE Conference on Decision and Control (CDC), December 2021.

  31. H. Tsukamoto, S.-J. Chung, and J.-J. E. Slotine, “Learning-based Adaptive Control via Contraction Theory,” Proc. IEEE Conference on Decision and Control (CDC), December 2021. (PDF)

  32. M. Lavalle, I. Seker, E. Loria, R. Ahmed, B. Hawkins, S. Prager, D. Clark, R. Beauchamp, M. Haynes, P. Focardi, M. Anderson, J. Ragan, K. Matsuka, V. Capuano, and S.-J. Chung, “Distributed Aperture Radar Tomographic Sensors (DARTS) to Map Surface Topography and Vegetation Structure,” Proc. IEEE International Geoscience and Remote Sensing Symposium (IGARSS), July 2021.

  33. B. Hawkins, M. Anderson, S. Prager, S.-J. Chung, and M. Lavalle, “Experiments with Small UAS to Support SAR Tomographic Mission Formulation,” Proc. IEEE International Geoscience and Remote Sensing Symposium (IGARSS), July 2021.

  34. K. Matsuka, A. Santamaria-Navarro, V. Capuano, A. Harvard, A. Rahmani, and S.-J. Chung, “Collaborative Pose Estimation of an Unknown Target Using Multiple Spacecraft,” IEEE Aerospace Conference, 2021. (PDF)

  35. J. Ragan, R. Ahmed, Kai Matsuka, I. Seker, J. Walker, S.-J. Chung, and M. Lavalle, “Optimizing Formation Flying Orbit Designs,” Proc. 31st AAS/AIAA Space Flight Mechanics Meeting, AAS 21-410. (PDF)

  36. E. Tang, P. Spieler, M. Anderson, and S.-J. Chung, “Design of the Next-Generation Autonomous Flying Ambulance,” AIAA Scitech Forum, January 2021, AIAA 2021-1514. (PDF)

  37. M. Anderson, S. Backus, E. Hughes, A. Curtis, S.-J. Chung, and E. M. Stolper, “Development and Deployment of a UAV-Borne Gas Capture System for Fumarole Sampling,” AIAA Scitech Forum, January 2021, AIAA 2021-1409. (PDF)

  38. E. Tang and S.-J. Chung, “Experimental Model of Effects of Large Upstream Obstructions on Drone Scale Propellers,” AIAA Scitech Forum, January 2021, AIAA 2021-1648. (PDF)

  39. Y. K. Nakka, W. Hoenig, C. Choi, A. Harvard., A. Rahmani., and S.-J. Chung, “Information-Based Guidance and Control Architecture for Multi-Spacecraft On-Orbit Inspection,” AIAA Guidance, Navigation, and Control Conference, Jan. 2021, AIAA 2021-1103. (PDF) Winner of AIAA Guidance, Navigation, and Control Best Graduate Student Paper.

  40. G. Shi, Y. Lin, S.-J. Chung, Y. Yue, and A. Wierman, “Online Optimization with Memory and Competitive Control,” Neural Information Processing Systems (NeurIPS), 2020. (PDF)

  41. C. Yu, G. Shi, S.-J. Chung, Y. Yue, and A. Wierman, “The Power of Predictions in Online Control,” Neural Information Processing Systems (NeurIPS), 2020. (PDF)

  42. S. Lee, V. Capuano, A. Harvard, and S.-J. Chung, “Fast Uncertainty Estimation for Deep Learning Based Optical Flow,” Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. (PDF)

  43. A. Liu, G. Shi, S.-J. Chung, A. Anandkumar, and Y. Yue, “Robust Regression for Safe Exploration in Control,” Proceedings of Machine Learning Research, PMLR 120:608-619, 2020. (PDF)

  44. X. Shi, P. Spieler, E. Tang, E. S. Lupu, P. Tokumaru, and S.-J. Chung, “Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (PDF) (Youtube Video)

  45. G. Shi, W. Hoenig, Y. Yue, and S.-J. Chung, “Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. (PDF) (Youtube Video) (Caltech News)

  46. B. Bernhard, C. Choi, A. Rahmani, S.-J. Chung, and F. Hadaegh, “Coordinated Motion Planning for On-Orbit Satellite Inspection using a Swarm of Small-Spacecraft,” Proc. IEEE Aerospace Conference, Big Sky, Montana, Mar. 7-14, 2020. (PDF)

  47. J. Villa, S. Bandyopadhyay, B. Morrell, B. Hockman, D. Lubey, A. Harvard, S.-J. Chung, S. Bhaskaran, and I. A. Nesnas, “Optical Navigation for Autonomous Approach of Unexplored Small Bodies,” Proc. 43rd Annual AAS Guidance, Navigation and Control Conference, AAS 20-125. (PDF)

  48. A. Harvard, V. Capuano, E. Shao, and S.-J. Chung, “Spacecraft Pose Estimation from Monocular Images Using Neural Network Based Keypoints and Visibility Maps,” AIAA SciTech, Orland, FL, January 6-10, 2020. (PDF) AIAA 2020-1874.

  49. H. Tsukamoto and S.-J. Chung, “Convex Optimization-based Controller Design for Stochastic Nonlinear Systems using Contraction Analysis,” Proc. the 2019 IEEE Conference on Decision and Control (CDC), Nice, France, December 11-13, 2019.

  50. Y. K. Nakka and S.-J. Chung, “Trajectory Optimization for Chance-Constrained Nonlinear Stochastic Systems,” Proc. the 2019 IEEE Conference on Decision and Control (CDC), Nice, France, December 11-13, 2019.

  51. V. Capuano, A. Harvard, Y. Lin, and S.-J. Chung, “DGNSS-Vision Integration for Robust and Accurate Relative Spacecraft Navigation,” Proc. Institute of Navigation ION GNSS+, Miami, Florida, Sep. 16-20, 2019

  52. K. Matsuka, E. S. Lupu, Y. K. Nakka, R. Foust, S.-J. Chung, and F. Hadaegh, “Distributed Multi-Target Relative Pose Estimation for Cooperative Spacecraft Swarm,” Proc. 10th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Glasgow, United Kingdom, July 16-19, 2019. Best Student Paper Award. (YouTube Video)

  53. K. Cai, A. Harvard, R. M. Murray, and S.-J. Chung, “Robust Estimation Framework with Semantic Measurements,” Proc. American Control Conference (ACC), Philadelphia, PA, July 10-12, 2019.

  54. G. Shi*, X. Shi*, M. O’Connell*, R. Yu, K. Azizzadenesheli, A. Anandkumar, Y. Yue, and S.-J. Chung, “Neural Lander: Stable Drone Landing Control using Learned Dynamics,” Proc. 2019 IEEE International Conference on Robotics and Automation (ICRA), May 20-24, 2019, Montréal, Canada. (Extended version PDF) (YouTube Video 1) (YouTube Video 2) *These authors contributed equally to this work.

  55. J. C. Castillo-Rogez, K. J. Meech, S.-J. Chung, and D. Landau, “Approach to Exploring Interstellar Objects and Long-Period Comets,” Proc. 29th AAS/AIAA Space Flight Mechanics Meeting, January 13-17, 2019, AAS 19-436. (PDF)

  56. V. Capuano, S. R. Alimo, A. Q. Ho, and S.-J. Chung, “Robust Feature Extraction for On-board Monocular-based Spacecraft Pose Acquisition,” Proc. 2019 AIAA SciTech Forum, San Diego, CA January 7–11, 2019.

  57. K. Kim, S. Rahili, X. Shi, S.-J. Chung, and M. Gharib, “Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure,” Proc. 2019 AIAA SciTech Forum, San Diego, CA, January 7–11, 2019.

  58. R. Foust, S.-J. Chung, and F. Y. Hadaegh, “Solving Optimal Control with Nonlinear Dynamics using Sequential Convex Programming,” Proc. AIAA Guidance, Navigation, and Control Conference, San Diego, CA, January 7–11, 2019.

  59. X. Shi, K. Kim, S. Rahili, and S.-J. Chung, “Nonlinear Control of Autonomous Flying Cars with Wings and Distributed Electric Propulsion,” Proc. the 2018 IEEE Conference on Decision and Control (CDC), Fontainebleau, Miami Beach, FL, Dec. 17-19, 2018.

  60. S. Rahili, B. Riviere, S. Oliver, and S.-J. Chung, "Optimal Routing for Autonomous Taxis and Ridesharing: Distributed Reinforcement Learning Approach," IEEE ICDM 2018 Workshops Proc. of 1st Workshop on Data-driven Intelligent Transportation (DIT 2018), Singapore, 17 November 2018.

  61. F. Baldini, A. Harvard, S.-J. Chung, I. Nesnas, and S. Bhaskaran, “Autonomous Small Body Mapping and Spacecraft Navigation,” Proc. 69th International Astronautical Congress, Bremen, Germany, 1 – 5 October 2018.

  62. V. Capuano, K. Kim, J. Hu, A. Harvard, and S.-J. Chung, “Monocular-Based Pose Determination of Uncooperative Known and Unknown Space Objects,” Proc. 69th International Astronautical Congress, Bremen, Germany, 1 – 5 October 2018.

  63. R. C. Foust, E. S. Lupu, Y. K. Nakka, S.-J. Chung, and F. Y. Hadaegh, “Ultra-Soft Electromagnetic Docking with Applications to In-Orbit Assembly,” Proc. 69th International Astronautical Congress, Bremen, Germany, 1-5 October 2018.

  64. Y. K. Nakka, R. C. Foust, E. S. Lupu, D. B. Elliott, I. S. Crowell, S.-J. Chung, and F. Y. Hadaegh, “A Six Degree-Of-Freedom Spacecraft Dynamics Simulator for Formation Control Research,” the 2018 AAS/AIAA Astrodynamics Specialist Conference, Snowbird, Utah, August 19-23, 2018.

  65. R. C. Foust, M. Zhao, S. Oliver, S.-J. Chung, and F. Y. Hadaegh, “Distributed Control of An Evolving Satellite Assembly During In-Orbit Construction,” International Astronautical Congress, Adelade, Australia, September 25-29, 2017.

  66. S. Bandyopadhyay, F. Baldini, R. Foust, S.-J. Chung, A. Rahmani, J.-P. de la Croix, and F. Y. Hadaegh, "Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments," AIAA SPACE and Astronautics Forum and Exposition, AIAA 2017-5323.

  67. S. Bandyopadhyay, F. Baldini, R. Foust, S.-J. Chung, A. Rahmani, J.-P. de la Croix, and F. Y. Hadaegh, "Distributed Fast Motion Planning for Spacecraft Swarms in Cluttered Environments Using Spherical Expansions and Sequence of Convex Optimization Problems, " Proc. 9th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Boulder, Colorado, June 19-21, 2017.

  68. R. C. Foust, Y. K. Nakka, A. Saxena, S.-J. Chung, and F. Y. Hadaegh, "Automated Rendezvous and Docking Using Tethered Formation Flight," Proc. 9th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Boulder, Colorado, June 19-21, 2017.

  69. A. Goel, S.-J. Chung, and S. Pellegrino, "Trajectory Design of a Spacecraft Formation for Space-Based Solar Power Using Sequential Convex Programming, " Proc. 9th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Boulder, Colorado, June 19-21, 2017.

  70. J. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, "Reducing Versatile Bat Wing Conformations to a 1-DoF Machine," Living Machines VI: The 6th International Conference on Biomimetic and Biohybrid Systems, Stanford University, July 25-28, 2017.

  71. A. Ramezani, U. A. Syed, J. Hoff, S.-J. Chung, and S. Hutchinson, "Describing Robotic Bat Flight with Stable Periodic Orbits," Living Machines VI: The 6th International Conference on Biomimetic and Biohybrid Systems, Stanford University, July 25-28, 2017.

  72. U. A. Syed, A. Ramezani, S.-J. Chung, and S. Hutchinson, "From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback," Proc. 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29 - June 3, 2017.

  73. A. A. Paranjape and S.-J. Chung, "Sub-Optimal Boundary Control of Semilinear PDEs using a Dyadic Perturbation Observer," Proc. 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, Dec. 2016.

  74. K. Meier, S.-J. Chung, and S. Hutchinson, “Visual-Inertial Curve SLAM,” Proc. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016.

  75. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "A Probabilistic Eulerian Approach for Motion Planning of a Large-Scale Swarm of Robots," Proc. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016.

  76. F. Baldini, S. Bandyopadhyay, R. Foust, S.-J. Chung, A. Rahmani, J.-P. de la Croix, A. Bacula, C. M. Chilan, and F. Y. Hadaegh, "Fast Motion Planning for Agile Space Systems with Multiple Obstacles," AIAA/AAS Astrodynamics Specialist Conference, AIAA SPACE and Astronautics Forum and Exposition, Long Beach, CA, 13-16 Sep 2016.

  77. G. Falcone, A. Saxena,S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh," Attitude Control of the Asteroid Redirect Robotic Mission Spacecraft with a Captured Boulder," AIAA/AAS Astrodynamics Specialist Conference, AIAA SPACE and Astronautics Forum and Exposition, Long Beach, CA, 13-16 Sep 2016.

  78. R. Foust, S.-J. Chung, and F. Y. Hadaegh, "Autonomous In-Orbit Satellite Assembly from a Modular Heterogeneous Swarm using Sequential Convex Programming," AIAA/AAS Astrodynamics Specialist Conference, AIAA SPACE and Astronautics Forum and Exposition, Long Beach, CA, 13-16 Sep 2016.

  79. J. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, "Synergistic Design of a Bio-Inspired Micro Aerial Vehicle with Articulated Wings," The Robotics: Science and Systems Conference (RSS), Ann Arbor, Michigan, June 18-22, 2016.

  80. A. Ramezani, X. Shi, S.-J. Chung, and S. Hutchinson, "Bat Bot (B2), A Biologically Inspired Flying Machine," Proc. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016.

  81. R. Foust, S.-J. Chung, and F. Y. Hadaegh, "Real-Time Optimal Control and Target Assignment for Autonomous In-Orbit Satellite Assembly from a Modular Heterogeneous Swarm," 26th AAS/AIAA Space Flight Mechanics Meeting, Napa, California, February 14-18, 2016.

  82. O. Alvarez-Salaza, J. Aldrich, N Filipe, J. Allison, and S.-J. Chung, "Strain Actuated Solar-Arrays for Precision Pointing of Spacecraft," AAS Guidance, Navigation, and Control Conference, Breckenridge, Colorado, Feb. 2016. AAS 16-137.

  83. C. M. Chilan, D. R. Herber, Y. K. Nakka, S.-J. Chung, J. T. Allison, J. B. Aldrich, and O. S. Alvarez-Salazar, "Co-Design of Strain-Actuated Solar Arrays for Precision Pointing and Jitter Reduction," 57th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, San Diego, CA, 4-8 Jan 2016, AIAA 2016-016.

  84. A. Ramezani, X. Shi, S.-J. Chung, and S. Hutchinson, "Modeling and Nonlinear Flight Controller Synthesis of a Bat-Inspired Micro Aerial Vehicle," AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 4-8 Jan 2016, AIAA 2016-1376.

  85. S. Gade, A. Paranjape, and S.-J. Chung, "Robotic Herding using Wavefront Algorithm: Performance and Stability," AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 4-8 Jan 2016, AIAA 2016-1378.

  86. A. A. Paranjape and S.-J. Chung, "Output Feedback Stabilization of Linear PDEs with Finite Dimensional Input-Output Maps and Kelvin-Voigt Damping," IEEE Conference on Decision and Control (CDC), Osaka, Japan, Dec. 15-18, 2015, pp. 578-583.

  87. A. Ramezani, X. Shi, S.-J. Chung, and S. Hutchinson, "Lagrangian Modeling and Flight Control of Articulated-Winged Bat Robot," Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 28 - October 02, 2015.

  88. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Feedback-Based Inhomogeneous Markov Chain Approach To Probabilistic Swarm Guidance," 8th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Delft, Netherlands, June 8-10, 2015.

  89. S. Bandyopadhyay and S.-J. Chung, "Nonlinear Attitude Control of Spacecraft with a Captured Asteroid,"8th International Workshop on Satellite Constellations and Formation Flying (IWSCFF), Delft, Netherlands, June 8-10, 2015.

  90. J. Yang, S.-J. Chung, S. Hutchinson, D. Johnson, M. Kise, "Omnidirectional-Vision-Based Estimation for Containment Detection of a Robotic Mower," IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 26-30, 2015.

  91. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Attitude Control and Stabilization of Spacecraft with a Captured Asteroid," AIAA Guidance, Navigation, and Control Conference, Kissimmee, Florida, 5-9 Jan 2015, AIAA 2015-0596.

  92. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Swarm Assignment and Trajectory Optimization Using Variable-Swarm, Distributed Auction Assignment and Model Predictive Control," AIAA Guidance, Navigation, and Control Conference, Kissimmee, Florida, 5-9 Jan 2015, AIAA 2015-0599. Best Paper Award in the AIAA GNC Conference.

  93. G. P. Subramanian, R. Foust, D. Chen, S. Chan, Y. Taleb, D. Rogers, J. Kokkat, S. Bandyopadhyay, D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Information-Driven Systems Engineering Study of a Formation Flying Demonstration Mission using Six CubeSats," 53rd AIAA Aerospace Sciences Meeting, Kissimmee, Florida, 5-9 Jan 2015, AIAA 2015-2043.

  94. S. Bandyopadhyay, G. P. Subramanian, R. Foust, D. Morgan, S. Chan, S.-J. Chung, and F. Y. Hadaegh, "A Review of Impending Small Satellite Formation Flying Missions," 53rd AIAA Aerospace Sciences Meeting, Kissimmee, Florida, 5-9 Jan 2015, AIAA 2015-1623.

  95. S. Gade, A. Paranjape, and S.-J. Chung, "Herding a Flock of Birds Approaching an Airport Using an Unmanned Aerial Vehicle," AIAA Guidance, Navigation, and Control Conference, Kissimmee, Florida, 5-9 Jan 2015, AIAA 2015-1540.

  96. A. A. Paranjape and S.-J. Chung, "Dyadic Perturbation Observer Framework for Control of a Class of Nonlinear PDE/ODE Systems," Proc. 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 2014.

  97. S. Bandyopadhyay, S.-J. Chung, F. Y. Hadaegh, "Probabilistic Swarm Guidance using Optimal Transport,"2014 IEEE Conference on Control Applications (CCA), IEEE Multi-conference on Systems and Control (MSC), Antibes, France, Oct. 8-10, 2014. Best Student Paper Finalist

  98. D. Morgan, G. P. Subramanian, S. Bandyopadhyay, S.-J. Chung, F. Y. Hadaegh, "Probabilistic Guidance of Distributed Systems using Sequential Convex Programming," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, Sept. 14-18, 2014, pp. 3850-3857.

  99. S. Bandyopadhyay and S.-J. Chung, "Distributed Estimation using Bayesian Consensus Filtering," Proc. American Control Conference (ACC), Portland, Oregon, June 4-6 2014, pp. 634-641.

  100. J. Yu, S.-J. Chung, and P. G. Voulgaris, "Traveled Distance Minimization and Hierarchical Strategies for Robotic Networks," 2014 International Symposium on Communications, Control, and Signal Processing (ISCCSP), May 22-23, Athens, Greece, 2014, pp. 491-496.

  101. J. Yu, S.-J. Chung, and P. G. Voulgaris, "Distance Optimal Target Assignment in Robotic Networks under Communication and Sensing Constraints," IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31 - June 7, 2014, pp. 1098-1105.

  102. J. Yang, S.-J. Chung, S. Hutchinson, D. Johnson, M. Kise, "Vision-Based Localization and Mapping for an Autonomous Mower," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013, pp. 3655-3662.

  103. A. A. Paranjape, K. Meier, S.-J. Chung, and S. Hutchinson, "Motion Primitives and 3-D Path Planning for Fast Flight through a Forest," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013, pp. 2940-2947.

  104. A. Dani, G.Panahandeh, S.-J. Chung, and S. Hutchinson, "Image Moments for Higher-Level Feature Based Navigation," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013, pp. 602-609.

  105. A. Paranjape, S.-J. Chung, H. H. Hilton, "Optimizing the Forces and Propulsive Efficiency in Bird-Scale Flapping Flight," AIAA Atmospheric Flight Mechanics (AFM) Conference, Boston, MA, August 2013, AIAA 2013-4916.

  106. J. Yang, A. Dani, S.-J. Chung, and S. Hutchinson, "Inertial-Aided Vision-Based Localization and Mapping in a Riverine Environment with Reflection Measurements," AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, MA, August 2013, AIAA 2013-5246.

  107. A. Paranjape, S.-J. Chung, and S. Hutchinson, "Optimum Spatially Constrained Turns for Agile Micro Aerial Vehicles," AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, MA, August 2013, AIAA 2013-4941.

  108. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Inhomogeneous Markov Chain Approach to Probabilistic Swarm Guidance Algorithm," May 2013, 5th Int. Conf. on Spacecraft Formation Flying Missions and Technologies (SFFMT), Munich, Germany.

  109. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Decentralized Model Predictive Control of Swarms of Spacecraft," May 2013, 5th Int. Conf. on Spacecraft Formation Flying Missions and Technologies (SFFMT), Munich, Germany.

  110. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Decentralized Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming," Proc. 23rd AAS/AIAA Space Flight Mechanics Meeting, Kauai, Hawaii, February 10-14, 2013, AAS 13-439.

  111. A. P. Dani, S.-J. Chung, and S. Hutchinson, "Observer Design for Stochastic Nonlinear Systems using Contraction Analysis," Proc. IEEE Conference on Decision and Control (CDC), Maui, HI, December 2012, pp. 6028-6035.

  112. A. Paranjape, J. Guan, S.-J. Chung, M. Krstic, "PDE Boundary Control for Euler-Bernoulli Beam Using a Two Stage Perturbation Observer," Proc. IEEE Conference on Decision and Control (CDC), Maui, HI, December 2012, pp. 4442-4448.

  113. D. Rao, S.-J. Chung, and S. Hutchinson, "CurveSLAM: An approach for Vision-based Navigation without Point Features," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 4198-4204.

  114. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Spacecraft Swarm Guidance Using a Sequence of Decentralized Convex Optimizations," AIAA/AAS Astrodynamics Specialist Conference, Minneapolis, MN, August, 2012, AIAA-2012-4583.

  115. A. Paranjape, J. Kim, and S.-J. Chung, "Closed-Loop Perching and Spatial Guidance Laws for Bio-Inspired Articulated Wing MAV," AIAA Guidance, Navigation, and Control (GNC) Conference, Minneapolis, MN, August 2012, AIAA-2012-4979.

  116. W. Lai, A. F. Bastawros, W. Hong, and S.-J. Chung, "Fabrication and Analysis of Planar Dielectric Elastomer Actuators Capable of Complex 3-D Deformation," Proc. IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012, pp. 4968-4973.

  117. A. Paranjape, S.-J. Chung, and M. Krstic, "PDE Boundary Control for Flexible Articulated Aircraft Wings,"Proc. AIAA Guidance, Navigation, and Control Conference (GNC), Portland OR, August 2011, AIAA-2011-6486.

  118. A. Paranjape, J. Kim, N. Gandhi, and S.-J. Chung, "Experimental Demonstration of Perching by an Articulated Wing MAV," Proc. AIAA Guidance, Navigation, and Control (GNC) Conference, Portland OR, August 2011, AIAA-2011-6403.

  119. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. Bayard, and F. Y. Hadaegh, "Swarm Keeping Strategies for Spacecraft under J2 and Atmospheric Drag Perturbations," Proc. AIAA Guidance, Navigation, and Control (GNC) Conference, Portland, OR, August 2011, AIAA-2011-6632.

  120. S.-J. Chung, I. Chang, and F. Y. Hadaegh, "Phase Synchronization Control of Robotic Networks on Periodic Ellipses with Adaptive Network Topologies," Proc. AIAA Guidance, Navigation, and Control (GNC) Conference, Portland, OR, August 2011, AIAA-2011-6631.

  121. S.-J. Chung and F. Y. Hadaegh, "Swarms of Femtosats for Synthetic Aperture Applications," 4th International Conference on Spacecraft Formation Flying Missions and Technologies (SFFMT), St-Hubert, Quebec, May 18-20, 2011.

  122. I. Chang, S.-J. Chung, and F. Y. Hadaegh, "Novel Coordinate Transformation and Robust Cooperative Formation Control for Swarms of Spacecraft,"4th International Conference on Spacecraft Formation Flying Missions and Technologies (SFFMT), St-Hubert, Quebec, May 18-20, 2011.

  123. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. Bayard, and F. Y. Hadaegh, "Dynamics and Control Challenges of Spacecraft Swarms under the Influence of J2 Gravity and Atmospheric Drag," 4th International Conference on Spacecraft Formation Flying Missions and Technology (SFFMT), St-Hubert, Quebec, May 18-20, 2011.

  124. M. Duffy, S.-J. Chung, and L. A. Bergman, "An Evolutionary Architecture for the Automated Conceptual Design of Aerospace Systems," AIAA Infotech@Aerospace Conference, St. Louis, MO, Mar. 2011, AIAA-2011-1632.

  125. P. D. Kuang, M. Dorothy, and S.-J. Chung, "RoboBat: Dynamics and Control of a Robotic Bat Flapping Flying Testbed," AIAA Infotech@Aerospace Conference, St. Louis, MO, Mar. 2011, AIAA-2011-1435.

  126. J. Yang, D. Rao, S.-J. Chung, and S. Hutchinson, "Monocular Vision SLAM for MAV in GPS-denied Riverine Environments," AIAA Infotech at Aerospace Conference, St. Louis, MO, Mar. 2011, AIAA-2011-1403.

  127. B. Aubin, B. Conway, and S.-J. Chung, "Finding Optimal Relative Orbit Transfer Trajectories with the Particle Swarm Algorithm and Primer Vector Theory," 21st AAS/AIAA Space Flight Mechanics Meeting, New Orleans, Louisiana, February 2011, AAS 11-160.

  128. I. Chang, S.-J. Chung and L. Blackmore, "Cooperative Control with Adaptive Graph Laplacians for Spacecraft Formation Flying," 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, Dec. 2010, pp. 4926–4933.

  129. S.-J. Chung and J.-J.E. Slotine, "On Synchronization of Coupled Hopf-Kuramoto Oscillators with Phase Delays," 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, Dec. 2010, pp. 3181-3187.

  130. A. Paranjape, A. Chakravarthy, S.-J. Chung, and H. H. Hilton, "Performance and Stability of an Agile Tail-less MAV with Flexible Articulated Wings ," AIAA Atmospheric Flight Mechanics Conference, Toronto, Ontario, Aug. 2010, AIAA-2010-7937.

  131. A. Chakravarthy, A. Paranjape, and S.-J. Chung, "Control Law Design for Perching an Agile MAV with Articulated Wings," AIAA Atmospheric Flight Mechanics Conference, Toronto, Ontario, Aug. 2010, AIAA-2010-7934.

  132. M. Dorothy and S.-J. Chung, "Methodological Remarks on CPG-Based Control of Flapping Flight," AIAA Atmospheric Flight Mechanics Conference, Toronto, Ontario, Aug. 2010, AIAA-2010-7634.

  133. A. Paranjape and S.-J. Chung, "Flight Mechanics of a Tailless Articulated Wing Aircraft," AIAA Atmospheric Flight Mechanics Conference, Toronto, Ontario, Aug. 2010, AIAA-2010-7633.

  134. I. Chang and S.-J. Chung, "Exponential Stability Region Estimates for the State-Dependent Riccati Equation Controllers," 48th IEEE Conference on Decision and Control Conference (CDC), Shanghai, Dec. 2009, pp. 1974 - 1979.

  135. K. Celik, S.-J. Chung, M. Clausman, and A. K. Somani, "Monocular Vision SLAM for Indoor Aerial Vehicles," Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, October 2009, pp. 1566-1573.

  136. I. Chang and S.-J. Chung, "Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks," 2009 AIAA Guidance, Navigation, and Control (GNC) Conference and Exhibit, Chicago, IL, August 2009, AIAA 2009-5886.

  137. K. Celik, S.-J. Chung, and A. K. Somani, "Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments," AIAA Infotech at Aerospace and Unmanned Unlimited Conference and Exhibit, Seattle, WA, 6-9 April 2009, AIAA-2009-1962.

  138. S.-J. Chung, J. Stoner, and M. Dorothy, "Neurobiologically Inspired Control of Engineered Flapping Flight,"AIAA Infotech@Aerospace and Unmanned Unlimited Conference and Exhibit, Seattle, WA, 6-9 April 2009, AIAA-2009-1929. Best Paper Award.

  139. K. Berg-Taylor, K. Seo, and S.-J. Chung, "Sensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles," Proc. of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Honolulu, HI, August 2008, AIAA-2008-7168.

  140. K. Celik, S.-J. Chung, and A. K. Somani, "MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments," Proc. of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Honolulu, HI, August 2008, AIAA-2008-6670.

  141. S.-J. Chung, U. Ahsun, and J.-J.E. Slotine, "Attitude and Phase Synchronization of Formation Flying Spacecraft: Lagrangian Approach," Proc. of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Honolulu, HI, August 2008, AIAA-2008-6472.

  142. K. Berg-Taylor, K. Seo, and S.-J. Chung, "Development of a Car-like Online Navigation Testbed," IEEE International Conference on Electro/Information Technology (EIT), Ames, IA, May 2008, pp. 337 - 342.

  143. K. Celik, S.-J. Chung, and A. Somani, "Mono-Vision Corner SLAM for Indoor Navigation," IEEE International Conference on Electro/Information Technology (EIT), Ames, IA, May 2008, pp. 343-348. Best Paper Award.

  144. K. Seo, S.-J. Chung, and J.-J. E. Slotine, "CPG-based Control of a Turtle-like Underwater Vehicle," June 25-28, 2008, Proceedings of the 2008 Robotics: Science and Systems Conference (RSS), Switzerland, pp. 127-134.

  145. S.-J. Chung, and J.-J. E. Slotine, "Cooperative Robot Control and Synchronization of Lagrangian Systems,"Proceedings of the 46th IEEE Conference on Decision and Control (CDC), New Orleans, LA, December 2007, pp. 2504-2509.

  146. S.-J. Chung, U. Ahsun, J.-J. E. Slotine, and D. W. Miller, "Application of Synchronization to Cooperative Control and Formation Flight of Spacecraft," Proceedings of the AIAA Guidance, Navigation and Control Conference, Hilton Head, SC, 2007, AIAA-2007-6861.

  147. S.-J. Chung, J.-J. E. Slotine, and D. W. Miller, "New Control Strategies for Underactuated Tethered Formation Flight Spacecraft," Proceedings of the AIAA Guidance, Navigation and Control Conference, Hilton Head, SC, 2007, AIAA-2007-6858.

  148. S.-J. Chung, "Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight by Oscillation Synchronization," Proceedings of the AIAA Guidance, Navigation and Control Conference, Keystone, Colorado, August 2006, AIAA-2006-6589. Finalist, Best Student Paper Award

  149. S.-J. Chung, D. Adams, D. W. Miller, E. Lorenzini, and D. Leisawitz, "SPHERES Tethered Formation Flight Testbed: Advancements in Enabling NASA's SPECS Mission," Proceedings of Astronomical Telescopes and Instrumentation 2006 Conference, SPIE Paper No. 6268-11, May 2006.

  150. S.-J. Chung, E. M. Kong, and D. W. Miller, "Dynamics and Control of Tethered Formation Flight Spacecraft Using the SPHERES Testbed," Proceedings of AIAA Guidance, Navigation, and Control Conference, San Francisco, August 2005, AIAA-2005-6089.

  151. S.-J. Chung, E. Kong, and D. W. Miller, "SPHERES Tethered Formation Flight Testbed: Application to NASA's SPECS Mission," Proceedings of the SPIE Optics and Photonics 2005. UV/Optical/IR Space Telescopes: Innovative Technologies and Concepts II Conference, Vol. 5899, San Diego, CA, August 2005, pp. 196-208.

  152. D. Lobosco, C. Blaurock, S.-J. Chung, D. W. Miller, "Integrated modeling of optical performance for the Terrestrial Planet Finder structurally connected interferometer," Proceedings of the SPIE Astronomical Telescopes and Instrumentation Conference, Vol. 5497, June 2004, Glasgow, Scotland United Kingdom, pp. 278-289.

  153. S.-J. Chung, D. Lobosco, D. W. Miller and C. Blaurock, "Multidisciplinary Control of a Sparse Interferometric Array Satellite Testbed," Proceedings of the AIAA Guidance, Navigation, and Control Conference, Austin, Texas, August 2003, AIAA-2003-5433.

  154. S.-J. Chung, D. W. Miller, and O. L. de Weck, "Design and Implementation of Sparse Aperture Imaging Systems," SPIE Astronomical Telescopes and Instrumentation Conference, Waikoloa, Hawaii, August 2002, Proceedings of the SPIE 4849-25, pp.181-192.

  155. S.-J. Chung and D. W. Miller, "Design, Implementation and Operation of a Sparse Aperture Imaging Satellite Testbed," August 2002, Proceedings of the 16th Annual AIAA/USU Conference on Small Satellites, Logan, Utah.

PhD Theses

  1. Benjamin Rivière, Do Robots Dream of Random Trees? Monte Carlo Tree Search for Dynamical, Partially Observable, and Multi-Agent Systems, 2024.

  2. Connor Lee, Learning-Based Perception for Robotics in Suboptimal Data Landscapes, 2024

  3. Kai Matsuka, Vision-Based Navigation and Large-Scale Estimation for Spacecraft Swarms, 2023.

  4. Hiroyasu Tsukamoto, Contraction Theory for Robust Learning-based Control: Toward Aerospace and Robotic Autonomy, 2023.

  5. Michael O’Connell, Methods for Robust Learning-Based Control, 2023.

  6. SooJean Han, Control and State-Estimation of Jump Stochastic Systems by Learning Recurrent Spatiotemporal Patterns, 2023.

  7. Ellande Tang, Studies on Off-Nominal Rotor Aerodynamics for eVTOL Aircraft, 2023

  8. Guanya Shi, Reliable Learning and Control in Dynamic Environments: Towards Unified Theory and Learned Robotic Agility, 2022.

  9. Yashwanth K. Nakka, Spacecraft Motion Planning and Control under Probabilistic Uncertainty for Coordinated Inspection and Safe Learning, 2021.

  10. Karena X. Cai, Safe and Interpretable Autonomous Systems Design: Behavioral Contracts and Semantic-Based Perception, 2021.

  11. Xichen Shi, Intelligent Control for Fixed-Wing eVTOL Aircraft, 2021.

  12. Michael Duffy, Efficient Solution of the Fokker-Planck Equation via Smooth Particle Hydrodynamics for Nonlinear Estimation, 2019.

  13. Rebecca Foust, Optimal Guidance and Control of Heterogeneous Swarms for In-Orbit Self-Assembly of Large Space Structures: Algorithms and Experiments, 2019.

  14. Kevin Meier, Visual Inertial Curve SLAM, 2018.

  15. Saptarshi Bandyopadhyay, Novel Probabilistic and Distributed Algorithms for Guidance, Control, and Nonlinear Estimation of Large-Scale Multi-Agent Systems, 2016.

  16. Michael Dorothy, Neuroinspired Control Strategies with Applications to Flapping Flight, 2016.

  17. Junho Yang, Vision based Estimation, Localization, and Mapping for Autonomous Vehicles , 2015.

  18. Daniel Morgan, Guidance and control of swarms of spacecraft, 2015.

  19. Aditya Paranjape, Dynamics and Control of Robotic Aircraft with Articulated Wings, 2011.

Book Chapters

  1. M. Dorothy, A. A. Paranjape, P. D. Kuang, and S.-J. Chung, "Towards Bio-Inspired Robotic Aircraft: Control Experiments on Flapping and Gliding Flight," J. Valasek (Ed.), Advances in Intelligent and Autonomous Aerospace Systems, Progress in Astronautics and Aeronautics, American Institute of Aeronautics and Astronautics (AIAA), Reston, VA, 2012, pages 1-31. ISBN: 978-1-60086-897-9. (PDF)

  2. F. Y. Hadaegh, B. Acikmese, D. S. Bayard, G. Singh, M. Mandic, S.-J. Chung, and D. Morgan, "Guidance and Control of Formation Flying Spacecraft: From Two to Thousands," in Adventures on the Interface of Mechanics and Control, Edited by K. Alfriend, et al., Tech Science Press, 2012, pages 327-371.

  3. F. Y. Hadaegh, A. Johnson, D. S. Bayard, B. Açıkmeşe, S.-J. Chung, and R. Mehra, "New Guidance, Navigation, and Control Technologies for Formation Flying Spacecraft and Planetary Landing," Advances in Control System Technology for Aerospace Applications, Eric Feron (Ed.), Aerospace Decision and Control, Lecture Notes in Control and Information Sciences (LNCIS), Springer, 2016, pages 49-80. ISBN: 978-3-662-47693-2 (Print) 978-3-662-47694-9 (Online) (PDF)

  4. V. V. Kulkarni, A. A. Paranjape, and S.-J. Chung, "Robust Tunable Transcriptional Oscillators using Dynamic Inversion," A Systems Theoretic Approach to Systems and Synthetic Biology I: Models and System Characterizations, V. Kulkarni, Vishwesh, G.-B. Stan, K. Raman (Eds.), Springer, 2014.

Patents

  1. A. A. Paranjape and S.-J. Chung, “Controlled Transitory or Sustained Gliding Flight with Dihedral Angle and Trailing Flaps,” US Patent No.: US 9,394,050 B2, Date of Patent: July 19, 2016.

  2. X. Shi, M. Veismann, C. Dougherty, S. Rider, S.-J. Chung, M. Gharib, and K. Kim, S. Rahili “Autonomous Flying Ambulance,” US Patent No.: US 11,072,421 B2, Date of Patent: July 27, 2021.

  3. 3. S.-J. Chung, A. A. Paranjape, and K. Kim, “Systems and Methods for Avian Flock Flight Path Modification using UAVs,” US Patent No.: US 11,801,937 B2, Date of Patent: Oct. 31, 2023.

  4. G. Shi, X. Shi, M. T. O’Connell, A. Anandkumar, Y. Yue, and S.-J. Chung, “Systems and Methods for Robust Learning-Based Control During Forward and Landing Flight Under Uncertain Conditions,” US Patent No.: US11,693,373 B2, Date of Patent: Jul. 4, 2023.

  5. V. Capuano, A. Harvard, and S.-J. Chung, “Systems and Methods for Robust and Accurate Relative Navigation,” US Patent No.: 11,733,399 B2, Date of Patent: August 22, 2023.

  6. X. Shi; P. Spieler; E. Tang; E. S. Lupu, and S.-J. Chung, “Airflow Sensing Based Adaptive Nonlinear Flight Control of a Flying Car or Fixed-Wing VTOL,” US Patent No.: US11,733,715 B2, Date of Patent: Aug. 22, 2023.

  7. S.-J. Chung, et al. “Synchronized Multi-Modal Robot,” pending nonprovisional application, 2020.

  8. E. Tang, P. Spieler, M. J. Anderson, and S.-J. Chung, “Autonomous Multi-Purpose Heavy-Lift VTOL,” US Patent No.: US 11,891,170 B2. Date of Patent: Feb. 6, 2024.