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Viewing Publication 1 - 100 from 181

2024

Safe Control for Navigation in Cluttered Space Using Multiple Lyapunov-Based Control Barrier FunctionsInkyu Jang, H. Jin Kim. ral, 9(3):2056-2063, 2024. [doi]

Automatic Pseudo-LiDAR Annotation: Generation of Training Data for 3D Object Detection NetworksChangsuk Oh, Youngseok Jang, Dongseok Shim, Changhyeon Kim, Junha Kim, H. Jin Kim. access, 12:14227-14237, 2024. [doi]

2023

CQM: Curriculum Reinforcement Learning with a Quantized World ModelSeungjae Lee 0002, Daesol Cho, Jonghae Park, H. Jin Kim. nips 2023: [doi]

Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted SurfaceJeonghyun Byun, Byeongjun Kim, Changhyeon Kim, Donggeon David Oh, H. Jin Kim. icra 2023: 5345-5351 [doi]

Diversify & Conquer: Outcome-directed Curriculum RL via Out-of-Distribution DisagreementDaesol Cho, Seungjae Lee 0001, H. Jin Kim. nips 2023: [doi]

Outcome-directed Reinforcement Learning by Uncertainty \& Temporal Distance-Aware Curriculum Goal GenerationDaesol Cho, Seungjae Lee, H. Jin Kim. iclr 2023: [doi]

DiffuPose: Monocular 3D Human Pose Estimation via Denoising Diffusion Probabilistic ModelJeongjun Choi, Dongseok Shim, H. Jin Kim. iros 2023: 3773-3780 [doi]

Safe and Distributed Multi-Agent Motion Planning under Minimum Speed ConstraintsInkyu Jang, Jungwon Park, H. Jin Kim. icra 2023: 7677-7683 [doi]

Distributed Beam Tracking for Vehicular Communications via UAV-Assisted Cellular NetworkDohyun Jang, Ha-Lim Song, Young-Chai Ko, H. Jin Kim. tvt, 72(1):589-600, 2023. [doi]

Demonstration-free Autonomous Reinforcement Learning via Implicit and Bidirectional CurriculumJigang Kim, Daesol Cho, H. Jin Kim. icml 2023: 16441-16457 [doi]

Real-Time Hetero-Stereo Matching for Event and Frame Camera With Aligned Events Using Maximum Shift DistanceHaram Kim, Sangil Lee, Junha Kim, H. Jin Kim. ral, 8(1):416-423, 2023. [doi]

Scale-Aware Monocular Visual Odometry and Extrinsic Calibration Using Vehicle KinematicsChanghyeon Kim, Youngseok Jang, Junha Kim, Pyojin Kim, H. Jin Kim. tits, 24(12):14757-14771, December 2023. [doi]

Visibility-Constrained Control of Multirotor via Reference GovernorDabin Kim, Matthias Pezzutto, Luca Schenato 0001, H. Jin Kim. cdc 2023: 5714-5721 [doi]

Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial ManipulatorByeongjun Kim, Dongjae Lee, Jeonghyun Byun, H. Jin Kim. icra 2023: 5386-5392 [doi]

Object-based SLAM utilizing unambiguous pose parameters considering general symmetry typesTaekbeom Lee, Youngseok Jang, H. Jin Kim. icra 2023: 2120-2126 [doi]

Scale-Aware Visual-Inertial Depth Estimation and Odometry Using Monocular Self-Supervised LearningChungkeun Lee, Changhyeon Kim, Pyojin Kim, Hyeonbeom Lee, H. Jin Kim. access, 11:24087-24102, 2023. [doi]

Minimally Actuated Tiltrotor for Perching and Normal Force ExertionDongjae Lee, Sunwoo Hwang, Changhyeon Kim, Seung Jae Lee 0002, H. Jin Kim. iros 2023: 5027-5033 [doi]

Safety-Critical Control Under Multiple State and Input Constraints and Application to Fixed-Wing UAVDonggeon David Oh, Dongjae Lee, H. Jin Kim. cdc 2023: 1748-1755 [doi]

Decentralized Deadlock-free Trajectory Planning for Quadrotor Swarm in Obstacle-rich EnvironmentsJungwon Park, Inkyu Jang, H. Jin Kim. icra 2023: 1428-1434 [doi]

DLSC: Distributed Multi-Agent Trajectory Planning in Maze-Like Dynamic Environments Using Linear Safe CorridorJungwon Park, Yunwoo Lee, Inkyu Jang, H. Jin Kim. trob, 39(5):3739-3758, October 2023. [doi]

Real-Time Robust Receding Horizon Planning Using Hamilton-Jacobi Reachability AnalysisHoseong Seo, Donggun Lee, Clark Youngdong Son, Inkyu Jang, Claire J. Tomlin, H. Jin Kim. trob, 39(1):90-109, February 2023. [doi]

SwinDepth: Unsupervised Depth Estimation using Monocular Sequences via Swin Transformer and Densely Cascaded NetworkDongseok Shim, H. Jin Kim. icra 2023: 4983-4990 [doi]

SNeRL: Semantic-aware Neural Radiance Fields for Reinforcement LearningDongseok Shim, Seungjae Lee, H. Jin Kim. icml 2023: 31489-31503 [doi]

2022

S2P: State-conditioned Image Synthesis for Data Augmentation in Offline Reinforcement LearningDaesol Cho, Dongseok Shim, H. Jin Kim. nips 2022: [doi]

Unsupervised Reinforcement Learning for Transferable Manipulation Skill DiscoveryDaesol Cho, Jigang Kim, H. Jin Kim. ral, 7(3):7455-7462, 2022. [doi]

Fast Computation of Tight Funnels for Piecewise Polynomial SystemsInkyu Jang, Hoseong Seo, H. Jin Kim. csysl, 6:2234-2239, 2022. [doi]

A Survey on Vision-based Navigation Systems Robust to Illumination ChangesYoungseok Jang, Changhyeon Kim, H. Jin Kim. elinfocom 2022: 1-4 [doi]

Automating Reinforcement Learning With Example-Based ResetsJigang Kim, J. hyeon Park, Daesol Cho, H. Jin Kim. ral, 7(3):6606-6613, 2022. [doi]

Learning and Generalizing Cooperative Manipulation Skills Using Parametric Dynamic Movement PrimitivesHyoin Kim, Changsuk Oh, Inkyu Jang, Sungyong Park, Hoseong Seo, H. Jin Kim. tase, 19(4):3968-3979, 2022. [doi]

DHRL: A Graph-Based Approach for Long-Horizon and Sparse Hierarchical Reinforcement LearningSeungjae Lee, Jigang Kim, Inkyu Jang, H. Jin Kim. nips 2022: [doi]

RISE-Based Trajectory Tracking Control of an Aerial Manipulator Under UncertaintyDongjae Lee, Jeonghyun Byun, H. Jin Kim. csysl, 6:3379-3384, 2022. [doi]

Online Distributed Trajectory Planning for Quadrotor Swarm With Feasibility Guarantee Using Linear Safe CorridorJungwon Park, Dabin Kim, Gyeong Chan Kim, Dahyun Oh, H. Jin Kim. ral, 7(2):4869-4876, 2022. [doi]

2021

Stability and Robustness Analysis of Plug-Pulling using an Aerial ManipulatorJeonghyun Byun, Dongjae Lee, Hoseong Seo, Inkyu Jang, Jeongjun Choi, H. Jin Kim. iros 2021: 4199-4206 [doi]

Multirobot Collaborative Monocular SLAM Utilizing RendezvousYoungseok Jang, Changsuk Oh, Yunwoo Lee, H. Jin Kim. trob, 37(5):1469-1486, 2021. [doi]

Robust and Recursively Feasible Real-Time Trajectory Planning in Unknown EnvironmentsInkyu Jang, Dongjae Lee, Seungjae Lee, H. Jin Kim. iros 2021: 1434-1441 [doi]

Autonomous Aerial Dual-Target Following Among ObstaclesBoseong Felipe Jeon, Yunwoo Lee, Jeongjun Choi, Jungwon Park, H. Jin Kim. access, 9:143104-143120, 2021. [doi]

Topology-Guided Path Planning for Reliable Visual Navigation of MAVsDabin Kim, Gyeong Chan Kim, Youngseok Jang, H. Jin Kim. iros 2021: 3117-3124 [doi]

Real-Time Rotational Motion Estimation With Contrast Maximization Over Globally Aligned EventsHaram Kim, H. Jin Kim. ral, 6(3):6016-6023, 2021. [doi]

Automated Extrinsic Calibration for 3D LiDARs with Range Offset Correction using an Arbitrary Planar BoardJunha Kim, Changhyeon Kim, Youngsoo Han, H. Jin Kim. icra 2021: 5082-5088 [doi]

Target-visible Polynomial Trajectory Generation within an MAV TeamYunwoo Lee, Jungwon Park, Boseong Jeon, H. Jin Kim. iros 2021: 1982-1989 [doi]

Low-Latency and Scene-Robust Optical Flow Stream and Angular Velocity EstimationSangil Lee, H. Jin Kim. access, 9:155988-155997, 2021. [doi]

Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust ControllerDongjae Lee, Hoseong Seo, Inkyu Jang, Seung Jae Lee, H. Jin Kim. ral, 6(2):723-730, 2021. [doi]

Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive ControlDongjae Lee, Inkyu Jang, Jeonghyun Byun, Hoseong Seo, H. Jin Kim. iros 2021: 2135-2142 [doi]

Model-based Domain Randomization of Dynamics System with Deep Bayesian Locally Linear EmbeddingJae-Hyeon Park, Sungyong Park, H. Jin Kim. icra 2021: 4223-4229 [doi]

Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight CorridorJungwon Park, H. Jin Kim. ral, 6(2):659-666, 2021. [doi]

Fast Funnel Computation Using Multivariate Bernstein PolynomialHoseong Seo, Clark Youngdong Son, H. Jin Kim. ral, 6(2):1351-1358, 2021. [doi]

Learning a Geometric Representation for Data-Efficient Depth Estimation via Gradient Field and Contrastive LossDongseok Shim, H. Jin Kim. icra 2021: 13634-13640 [doi]

Hybrid Reinforcement Learning Control for a Micro Quadrotor FlightJaehyun Yoo, Dohyun Jang, H. Jin Kim, Karl Henrik Johansson. csysl, 5(2):505-510, 2021. [doi]

2020

Pose Correction Algorithm for Relative Frames Between Keyframes in SLAMYoungseok Jang, Hojoon Shin, H. Jin Kim. ACCV 2021: 326-340 [doi]

Navigation-Assistant Path Planning within a MAV teamYoungseok Jang, Yunwoo Lee, H. Jin Kim. iros 2020: 1436-1443 [doi]

Multi-Robot Active Sensing and Environmental Model Learning With Distributed Gaussian ProcessDohyun Jang, Jaehyun Yoo, Clark Youngdong Son, Dabin Kim, H. Jin Kim. ral, 5(4):5905-5912, 2020. [doi]

Detection-Aware Trajectory Generation for a Drone CinematographerBoseong Felipe Jeon, Dongsuk Shim, H. Jin Kim. iros 2020: 1450-1457 [doi]

Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense EnvironmentBoseong Jeon, Yunwoo Lee, H. Jin Kim. icra 2020: 1243-1249 [doi]

Field-of-View Constrained Guidance Law for a Maneuvering Target With Impact Angle ControlHyeong-Geun Kim, H. Jin Kim. taes, 56(6):4974-4983, 2020. [doi]

Moving object detection for visual odometry in a dynamic environment based on occlusion accumulationHaram Kim, Pyojin Kim, H. Jin Kim. icra 2020: 8658-8664 [doi]

Edge-based Visual Odometry with Stereo Cameras using Multiple Oriented QuadtreesChanghyeon Kim, Junha Kim, H. Jin Kim. iros 2020: 5917-5924 [doi]

Stable Flight of a Flapping-Wing Micro Air Vehicle Under Wind DisturbanceJonggu Lee, Seungwan Ryu, H. Jin Kim. ral, 5(4):5685-5692, 2020. [doi]

Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor FailureSeung Jae Lee, Inkyu Jang, H. Jin Kim. ral, 5(4):6403-6410, 2020. [doi]

Aerial Manipulation using Model Predictive Control for Opening a Hinged DoorDongjae Lee, Hoseong Seo, Dabin Kim, H. Jin Kim. icra 2020: 1237-1242 [doi]

Traffic light recognition based on one-dimensional convolutional neural networkChangsuk Oh, Dongseok Sim, H. Jin Kim. itsc 2020: 1-6 [doi]

Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein PolynomialJungwon Park, Junha Kim, Inkyu Jang, H. Jin Kim. icra 2020: 434-440 [doi]

Learning Transformable and Plannable se(3) Features for Scene Imitation of a Mobile Service RobotJae-Hyeon Park, Jigang Kim, Youngseok Jang, Inkyu Jang, H. Jin Kim. ral, 5(2):1664-1671, 2020. [doi]

Trajectory Planning with Safety Guaranty for a Multirotor based on the Forward and Backward Reachability AnalysisHoseong Seo, Clark Youngdong Son, Dongjae Lee, H. Jin Kim. icra 2020: 7142-7148 [doi]

Real-Time Optimal Trajectory Generation and Control of a Multi-Rotor With a Suspended Load for Obstacle AvoidanceClark Youngdong Son, Hoseong Seo, Dohyun Jang, H. Jin Kim. ral, 5(2):1915-1922, 2020. [doi]

2019

Networked Operation of a UAV Using Gaussian Process-Based Delay Compensation and Model Predictive ControlDohyun Jang, Jaehyun Yoo, Clark Youngdong Son, H. Jin Kim, Karl Henrik Johansson. icra 2019: 9216-9222 [doi]

Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense EnvironmentsBoseong Felipe Jeon, H. Jin Kim. iros 2019: 1115-1121 [doi]

Sampling-based Motion Planning for Aerial Pick-and-PlaceHyoin Kim, Hoseong Seo, Jongchan Kim, H. Jin Kim. iros 2019: 7402-7408 [doi]

Sliding Mode Guidance Law for Impact Time Control Without Explicit Time-to-Go EstimationHyeong-Geun Kim, Dongsoo Cho, H. Jin Kim. taes, 55(1):236-250, 2019. [doi]

Backstepping-Based Impact Time Control Guidance Law for Missiles With Reduced Seeker Field-of-ViewHyeong-Geun Kim, H. Jin Kim. taes, 55(1):82-94, 2019. [doi]

Incorporating Safety Into Parametric Dynamic Movement PrimitivesHyoin Kim, Hoseong Seo, Seungwon Choi, Claire J. Tomlin, H. Jin Kim. ral, 4(3):2260-2267, 2019. [doi]

Fast and Safe Policy Adaptation via Alignment-based TransferJigang Kim, Seungwon Choi, H. Jin Kim. iros 2019: 990-996 [doi]

Autonomous flight with robust visual odometry under dynamic lighting conditionsPyojin Kim, Hyeonbeom Lee, H. Jin Kim. arobots, 43(6):1605-1622, 2019. [doi]

Edge Detection for Event Cameras using Intra-pixel-area EventsSangil Lee, Haram Kim, H. Jin Kim. bmvc 2019: 181 [doi]

Position-based monocular visual servoing of an unknown target using online self-supervised learningChungkeun Lee, Hoseong Seo, H. Jin Kim. iros 2019: 4467-4473 [doi]

Robust Real-time RGB-D Visual Odometry in Dynamic Environments via Rigid Motion ModelSangil Lee, Clark Youngdong Son, H. Jin Kim. iros 2019: 6891-6898 [doi]

Collision-Free Path Planning for Cooperative Aerial Manipulators Under Velocity and Curvature ConstraintsHyeonbeom Lee, Clark Youngdong Son, H. Jin Kim. access, 7:171153-171162, 2019. [doi]

3-Multirotor UAVSeung Jae Lee, Dongjae Lee, H. Jin Kim. icra 2019: 4168-4173 [doi]

Fast Trajectory Planning for Multiple Quadrotors using Relative Safe Flight CorridorJungwon Park, H. Jin Kim. iros 2019: 596-603 [doi]

Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability AnalysisHoseong Seo, Donggun Lee, Clark Youngdong Son, Claire J. Tomlin, H. Jin Kim. iros 2019: 3150-3157 [doi]

Real-time Optimal Planning and Model Predictive Control of a Multi-rotor with a Suspended LoadClark Youngdong Son, Dohyun Jang, Hoseong Seo, Taewan Kim, Hyeonbeom Lee, H. Jin Kim. icra 2019: 5665-5671 [doi]

2018

Learning and Generalization of Dynamic Movement Primitives by Hierarchical Deep Reinforcement Learning from DemonstrationWonchul Kim, Chungkeun Lee, H. Jin Kim. iros 2018: 3117-3123 [doi]

Look Angle Constrained Impact Angle Control Guidance Law for Homing Missiles With Bearings-Only MeasurementsHyeong-Geun Kim, Jun-Yong Lee, H. Jin Kim. taes, 54(6):3096-3107, 2018. [doi]

Cooperation in the Air: A Learning-Based Approach for the Efficient Motion Planning of Aerial ManipulatorsHyoin Kim, Hoseong Seo, Clark Youngdong Son, Hyeonbeom Lee, Suseong Kim, H. Jin Kim. ram, 25(4):76-85, 2018. [doi]

Vision-based Target Tracking for a Skid-steer Vehicle using Guided Policy Search with Field-of-view ConstraintTaewan Kim, Chungkeun Lee, Hoseong Seo, Seungwon Choi, Wonchul Kim, H. Jin Kim. iros 2018: 2418-2425 [doi]

Linear RGB-D SLAM for Planar EnvironmentsPyojin Kim, Brian Coltin, H. Jin Kim. eccv 2018: 350-366 [doi]

Indoor RGB-D Compass From a Single Line and PlanePyojin Kim, Brian Coltin, H. Jin Kim. cvpr 2018: 4673-4680 [doi]

Low-Drift Visual Odometry in Structured Environments by Decoupling Rotational and Translational MotionPyojin Kim, Brian Coltin, H. Jin Kim. icra 2018: 7247-7253 [doi]

Edge-Based Robust RGB-D Visual Odometry Using 2-D Edge Divergence MinimizationChanghyeon Kim, Pyojin Kim, Sangil Lee, H. Jin Kim. iros 2018: 1-9 [doi]

Robust Control of an Equipment-Added Multirotor Using Disturbance ObserverSuseong Kim, Seungwon Choi, Hyeonggeun Kim, Jongho Shin, Hyungbo Shim, H. Jin Kim. tcst, 26(4):1524-1531, 2018. [doi]

Design, Modeling and Control of T3-Multirotor: A Tilting Thruster Type Multirotor *This work was supported by the Robotics Core Technology Development Project (10080301) funded by the Ministry of Trade Industry and Energy (MoTIE, Korea), National Research Foundation of Korea (NRF) grant funded by the Ministry of Science, ICT and Future Planning (2014M1A3A3A02034854)Seung Jae Lee, Jaehyun Yoo, H. Jin Kim. icra 2018: 1214-1219 [doi]

Robust Gust Load Alleviation Control using Disturbance Observer for Generic Flexible Wing Aircraft in Cruising ConditionSeung Jae Lee, Kelley E. Hashemi, Michael C. Drew, Nhan T. Nguyen, H. Jin Kim. amcc 2018: 2257-2263 [doi]

Planning and Control for Collision-Free Cooperative Aerial TransportationHyeonbeom Lee, Hyoin Kim, H. Jin Kim. tase, 15(1):189-201, 2018. [doi]

An Integrated Framework for Cooperative Aerial Manipulators in Unknown EnvironmentsHyeonbeom Lee, Hyoin Kim, Woojin Kim, H. Jin Kim. ral, 3(3):2307-2314, 2018. [doi]

Learning-based Path Tracking Control of a Flapping-wing Micro Air VehicleJonggu Lee, Seungwan Ryu, Taewan Kim, Wonchul Kim, H. Jin Kim. iros 2018: 7096-7102 [doi]

Model Predictive Control of a Multi-Rotor with a Suspended Load for Avoiding ObstaclesClark Youngdong Son, Hoseong Seo, Taewan Kim, H. Jin Kim. icra 2018: 1-6 [doi]

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