Yi-Hsuan Chen

Yu-Chen Ho, Yi-Hsuan Chen, Shen-Hua Hung et al.

How to avoid a second wave of COVID-19 after reopening the economy is a pressing question. The extremely high basic reproductive number $R_0$ (5.7 to 6.4, shown in new studies) of SARS-CoV-2 further complicates the challenge. Here we assess effects of Social distancing 2.0, i.e. proximity alert (to maintain inter-personal distance) plus privacy-preserving contact tracing. To solve the dual task, we developed an open source mobile app. The app uses a Bluetooth-based, decentralized contact tracing platform over which the anonymous user ID cannot be linked by the government or a third party. Modelling results show that a 50\% adoption rate of Social distancing 2.0, with privacy-preserving contact tracing, would suffice to decrease the $R_0$ to less than 1 and prevent the resurgence of COVID-19 epidemic.

Yi-Hsuan Chen, Salman Ghori, Ania Adil et al.

Autonomous navigation in complex, non-convex environments remains challenging when robot dynamics, control limits, and exact robot geometry must all be taken into account. In this paper, we propose a hierarchical planning and control framework that bridges long-horizon guidance and geometry-aware safety guarantees for a polytopic robot navigating among polytopic obstacles. At the high level, Mixed-Integer Linear Programming (MILP) is embedded within a Model Predictive Control (MPC) framework to generate a nominal trajectory around polytopic obstacles while modeling the robot as a point mass for computational tractability. At the low level, we employ a control barrier function (CBF) based on the exact signed distance in the Minkowski-difference space as a safety filter to explicitly enforce the geometric constraints of the robot shape, and further extend its formulation to a high-order CBF (HOCBF). We demonstrate the proposed framework in U-shaped and maze-like environments under single- and double-integrator dynamics. The results show that the proposed architecture mitigates the topology-induced local-minimum behavior of purely reactive CBF-based navigation while enabling safe, real-time, geometry-aware navigation.