Hoam
Chung
Campus Office: 391 Cory Hall
Berkeley, CA 94720
Richmond Field Station Office: RSF Bldg #164
phone: (510) 665-3542
Email: hachung at eecs.berkeley.edu
I'm a post-doctoral researcher at the University of California, Berkeley for Professor Shankar Sastry. I majorly work for BErkeley AeRobot (BEAR) project.
My research interests include the application of model predictive
control (MPC) theory for distributed systems, safe set approximation
using receding horizon optimization, real-time system design and
software/hardware implementation, unmanned aerial vehicles (UAVs),
rotorcraft dynamics, and robotics.
Recently, I started to work with Professor Elijah Polak on the fast solver for finite-horizon optimal control problems.
curriculum vitae (pdf)
Educations:
Ph.D in Mechanical Engineering, May 2006, University of California, Berkeley, CA.
Dissertation title: Autonomous helicopter formation: model predictive control approach
M.S in Precision Mechanical Engineering, Aug 1999, Hanyang University, Seoul, Korea.
Thesis title: ZMP Compensation and Impedance Control for Improving Walking Stability of Biped Robots
B.S in Precision Mechanical Engineering, Feb 1997, Hanyang University, Seoul, Korea.
Research:
Publications:
Hoam Chung, Elijah Polak, and Shankar Sastry, "An Accelerator
for Packages Solving Discrete-Time Optimal Control Problems," IFAC 2008
(to appear)
Hoam Chung, Elijah Polak, and Shankar Sastry, "Enhancements for Contractive Receding Horizon Control ," IFAC 2008 (to appear)
Hoam Chung, Elijah Polak and S. Shankar Sastry, "On the Off-Label Use
of Outer Approximations: An External Active Set Strategy," EECS
Department, University of California, Berkeley, Technical Report No.
UCB/EECS-2007-127, October 26, 2007. (also submitted to Computational
Optimization and Applications)
Elijah Polak, Hoam Chung and S. Shankar Sastry, "An External Active-Set
Strategy for Solving Optimal Control Problems," EECS Department,
University of California, Berkeley, Technical Report UCB/EECS-2007-90,
July 16, 2007. (also submitted to IEEE Transactions on Automatic
Control)
Jessica J. Pannequin, Alexandre M. Bayen, Ian M. Mitchell, Hoam
Chung, and Shankar Sastry, "Multiple Aircraft Deconflicted Path
Planning with Weather Avoidance Constraints," AIAA GN&C Conference,
2007.
E. Shaw, Hoam Chung, S. Sastry, and Karl Hedrick, "Unmanned Helicopter
Formation Flight Experiment for the Study of Mesh Stability,"
Cooperative Systems: Control and Optimization, D. Grundel, R. Murphey, P.
Pardalos and O. Prokopyev (Editors), Lecture Notes in Economics and
Mathematical Systems, Vol. 588, Springer, 2007.
Hoam Chung and S. Sastry, "Autonomous Helicopter Formation using Model
Predictive Control", AIAA GN&C Conference, Keystone, Colorado, 2006.
D.H. Shim, Hoam Chung and S. Sastry, "Conflict-free navigation in unknown
urban environments," IEEE Robotics & Automation Society Magazine, Volume 13,
Issue 3, Sept. 2006, Page(s):27 - 33
D. Shim, Hoam Chung, H. J. Kim, S. Sastry, "Autonomous Exploration in
Unknown Urban Environments for Unmanned Aerial Vehicles," AIAA GN&C
Conference, San Francisco, California, August 2005.
D. H. Shim, H. J. Kim, Hoam Chung, S. Sastry, "Multi-functional
Autopilot Design and Experiments for Rotorcraft-based Unmanned Aerial
Vehicles ", 20th Digital Avionics Systems Conference, Florida,
2001.
Jong H. Park and Hoam Chung, "Hybrid Control of Biped Robots to
Increase Stability in Locomotion," Journal of Robotic Systems, Vol. 17,
No. 4, pp. 187-197, 2000.
Jong H. Park and Hoam Chung, "ZMP Compensation by On-Line Trajectory
Generation for Biped Robots," Proceedings of IEEE Conference on
Systems, Man and Cybernetics (SMC'99), pp. 960-965 (IV), Tokyo, Japan, October 1999.
Jong H. Park and Hoam Chung, "Impedance Control and Modulation for Stable
Footing in Locomotion of Biped Robots," Proceedings of IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS'99), pp. 1786-1791, Kyungju,
Korea, October 1999.
Jong H. Park and Hoam Chung, "Hybrid Control for Biped Robots Using
Impedance Control and Computed-Torque Control," Proceedings of IEEE
International Conference on Robotics and Automation (ICRA'99), pp.
1365-1370, Detroit, USA, May 1999
My old publications can be downloaded from Mechatronics Lab. at Hanyang University
Last updated: Dec/26/2007
