36th Annual Solid Freeform Fabrication Symposium (accepted), 2025
Recommended citation: Jinhan Ren, Rene Mai, Ashlynn Allison, Johnson Samuel, Sandipan Mishra. (2025). "Using Acoustic Signals For Torch-to-bead Distance Estimation and Closed-loop Control in Wire Arc Additive Manufacturing." 36th Annual Solid Freeform Fabrication Symposium (accepted).
ACM SigSim PADS PhD Colloqium, 2025
This paper proposes a study of human-autonomy teaming for obstacle avoidance in a realistic, rich environment. We propose several metrics to measure the overall team performance. We also propose validating how well programmed human behavior based on validated cognitive science models can imitate human participants.
Recommended citation: R. Mai, A. Julius, and S. Mishra. "Performance measures and sim-to-real gap assessment of human-autonomy teaming in obstacle avoidance" 2025 SigSim PADS PhD Colloquium.
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12th IFAC Symposium on Intelligent Autonomous Vehicles, 2025
Well-accepted models such as the two-point steering model and its variations describe human steering behavior in non-autonomous vehicles. However, these models may not describe human steering in a shared autonomous vehicle, where the human driver cooperates with an autonomous controller. This work explores how the generalized two-point steering model, a variation of the classical two-point model, may apply to human steering in a shared autonomous vehicle.
Recommended citation: R. Mai, K. Daveron, A. Julius, and S. Mishra. (2025). "Modeling human-autonomy team steering behavior in shared-autonomy driving scenarios." 2025 IFAC Symposium on Intelligent Autonomous Vehicles.
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IFAC Workshop on Cyber-Physical Human Systems, 2024
Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous controller applies steering and acceleration commands to the vehicle.
Recommended citation: R. Mai, A. Julius, and S. Mishra. (2024). "Analysis of human steering behavior differences in human-in-control and autonomy-in-control driving." 2024 Workshop on Cyber-Physical Human Systems (CPHS).
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ASME Letters in Dynamic Systems and Control (joint submission to the 2024 Modeling, Estimation, and Controls Conference) (Finalist for Best Student Research Award), 2024
We derive and validate a generalization of the two-point visual control model, an accepted cognitive science model for human steering behavior. The generalized model is needed as current steering models are either insufficiently accurate or too complex for online state estimation.
Recommended citation: Mai, R. E., Sears, K., Roessling, G., Julius, A., and Mishra, S. (October 11, 2024). "Generalized Two-Point Visual Control Model of Human Steering for Accurate State Estimation." ASME. Letters Dyn. Sys. Control. January 2025; 5(1): 011004. https://doi.org/10.1115/1.4066630
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American Controls Conference, 2023
This paper presents a human-as-advisor architecture for shared human-machine autonomy in dynamic systems. In the human-as-advisor architecture, the human provides suggested control actions to the autonomous system; the system uses a model of the human controller to ascertain the system’s state as perceived by the human. The system combines this information with additional sensor measurements, yielding an improved state estimate. We apply this architecture to the problem of lane-centering an autonomous vehicle in the presence of conflicting lane markings that render the true lane center uncertain.
Recommended citation: R. Mai, S. Mishra, and A. Julius. (2023). "Human-as-advisor in the loop for autonomous lane-keeping." 2023 American Control Conference (ACC). IEEE, May 31, 2023. doi: 10.23919/acc55779.2023.10156374.
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