Biography

I am a Research Scientist at the Center for Scientific Innovations and Education (CSIE), based at the Aerial Robotics Education and Research Center of the National Polytechnic University of Armenia (NPUA) in Yerevan. I earned my Ph.D. degree from the Department of Electrical and Computer Engineering (ECE) at Seoul National University (SNU), Seoul, under the guidance of Professor Insoon Yang.

My academic journey began with a B.S. degree in Automation and Control from the NPUA, Yerevan, in 2018. I further pursued my passion by attaining an M.S. degree in ECE from SNU in 2020. During my time at SNU, I was honored with the Distinguished ECE M.S. Dissertation Award and the Distinguished ECE Ph.D. Dissertation Award, recognizing my dedication and excellence in the field.

My research interests encompass control and optimization, motion planning, and the development of safe autonomous systems. I am deeply committed to advancing these areas of study and contributing meaningfully to the field of scientific innovations and education.

Research Interests

  • Safety in Autonomous Systems
  • Distributionally Robust Optimization and Control
  • Motion Planning and Control

Publications

  1. A. Hakobyan and I. Yang, “Distributionally robust differential dynamic programming with Wasserstein distance,” IEEE Control Systems Letters (L-CSS), 2023 (to be presented at CDC 2023).
  2. J.M. Nadales, A. Hakobyan, D.M. de la Peña, D. Limon, and I. Yang, “Risk-Aware Wasserstein Distributionally Robust Control of Vessels in Natural Waterways,” IEEE Transactions on Control Systems Technology (TCST), 2024.
  3. A. Hakobyan and I. Yang, “Wasserstein distributionally robust control of partially observable linear stochastic systems,” IEEE Transactions on Automatic Control (TAC), 2023 (accepted).
  4. A. Hakobyan and I. Yang, “Distributionally robust optimization with unscented transform for learning-based motion control in dynamic environments,” in IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 3225–3232.
  5. A. Hakobyan and I. Yang, “Distributionally robust risk map for learning-based motion planning and control: A semidefinite programming approach,” IEEE Transactions on Robotics (T-RO), 2022.
  6. A. Hakobyan and I. Yang, “Wasserstein distributionally robust control of partially observable linear systems: Tractable approximation and performance guarantee,” in IEEE Conference on Decision and Control (CDC), 2022, pp. 4800–4807.
  7. J. Shin, A. Hakobyan, M. Park, Y. Kim, G. Kim, and I. Yang, “Infusing model predictive control into meta-reinforcement learning for mobile robots in dynamic environments,” IEEE Robotics and Automation Letters (RA-L), pp. 1–8, 2022 (presented at IROS 2022).
  8. A. Hakobyan and I. Yang, “Toward improving the distributional robustness of risk-aware controllers in learning-enabled environments,” in IEEE Conference on Decision and Control (CDC), 2021, pp. 6024–6031.
  9. A. Hakobyan and I. Yang, “Wasserstein distributionally robust motion control for collision avoidance using conditional value-at-risk,” IEEE Transactions on Robotics (T-RO), vol. 38, no. 2, pp. 939–957, 2021.
  10. A. Hakobyan and I. Yang, “Learning-based distributionally robust motion control with Gaussian processes,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 7667–7674.
  11. A. Hakobyan and I. Yang, “Wasserstein distributionally robust motion planning and control with safety constraints using conditional value-at-risk,” in IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 490– 496.
  12. A. Hakobyan, G. C. Kim, and I. Yang, “Risk-aware motion planning and control using CVaR-constrained optimization,” IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 4, pp. 3924–3931, 2019 (presented at IROS 2019).

Awards and Scholarships

  • Distinguished ECE Ph.D. Dissertation Award (2023)
  • SNU Global Scholarship (2022, Spring)
  • SNU Development Fund Scholarship (2021, Fall)
  • SNU Global Scholarship (2021, Spring)
  • Distinguished ECE M.S. Dissertation Award (2020)
  • Korean Government Scholarship Program, KGSP (2018-2020)