arXiv subjects

Yeonjoon Kim

Publications and source records attributed to Yeonjoon Kim.

3 recordsLinked to original sources

arXiv2026

Data-Driven, Geometry-Aware Optimal-Transport Calibration of Flavor Tagger

Flavor-tagging calibrations are often provided either as scale factors measured at a finite set of working points or as binned corrections to a chosen one-dimensional discriminant. However, this approach falls short of providing continuous, event-level calibration across the full multicomponent outputs of modern taggers. This limitation leads to information loss in analyses that demand high-performance flavor tagging, restricting analyses to a limited set of predefined variables. In this work, we propose a geometry-aware framework that formulates flavor-tagger calibration as an optimal transport problem on the probability simplex. The transport maps are parameterized and trained in the isometric log-ratio coordinate system. Because the quadratic Euclidean cost of Brenier transport in this coordinate system is equivalent to the Aitchison distance on the simplex, the learned map induces a minimal deformation under the Aitchison geometry. Furthermore, we extract flavor-conditional target distributions directly from control-region data using an expectation-maximization (EM) technique that simultaneously fits multiple control regions, models each flavor component with a normalizing flow, and estimates the regional mixture fractions. The extracted targets are subsequently used to learn flavor-factorized transport maps. Because the joint estimation of mixture fractions and flexible component densities admits weakly constrained directions, we further introduce a linearized feedback-operator analysis that propagates the fitted composition covariance into the extracted component densities, separating data-constrained modes from those dominated by the composition prior. The simulation-based closure study demonstrates improved closure in dedicated control regions and in independent validation mixtures.

hep-ex↗

arXiv2025

Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable operation, particularly during aggressive flight maneuvers or recovery from sudden disturbances. While prior studies have investigated actuator-aware control for conventional and fixed-tilt multirotors, these approaches rely on linear relationships between actuator input and wrench, which cannot capture the nonlinearities induced by variable tilt angles. In this work, we exploit the cascade structure between the rigid-body dynamics of the multirotor and its nonlinear actuator dynamics to design the proposed backstepping controller and establish exponential stability of the overall system. Furthermore, we reveal parametric uncertainty in the actuator model through experiments, and we demonstrate that the proposed controller remains robust against such uncertainty. The controller was compared against a baseline that does not account for actuator dynamics across three experimental scenarios: fast translational tracking, rapid rotational tracking, and recovery from sudden disturbance. The proposed method consistently achieved better tracking performance, and notably, while the baseline diverged and crashed during the fastest translational trajectory tracking and the recovery experiment, the proposed controller maintained stability and successfully completed the tasks, thereby demonstrating its effectiveness.

cs.RO↗

arXiv2025

Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment

Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial manipulator interacting with both static and dynamic structures. Our approach centers on a safety filter that dynamically adjusts the desired trajectory of the vehicle's pose, accounting for the aerial manipulator's dynamics, the disturbance observer's structure, and motor thrust limits. We provide rigorous proof that the proposed safety filter ensures the forward invariance of the safety set - representing motor thrust limits - even in the presence of disturbance estimation errors. To demonstrate the superiority of our method over existing control strategies for aerial physical interaction, we perform comparative experiments involving complex tasks, such as pushing against a static structure and pulling a plug firmly attached to an electric socket. Furthermore, to highlight its repeatability in scenarios with sudden dynamic changes, we perform repeated tests of pushing a movable cart and extracting a plug from a socket. These experiments confirm that our method not only outperforms existing methods but also excels in handling tasks with rapid dynamic variations.

cs.RO↗