Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model
https://sgvr.kaist.ac.kr/publication/collision-backpropagation-based-obstacle-avoidance-methodfor-a-legged-robot-expressed-as-a-simplified-dynamics-model/
Jinwon Kim, Heechan Shin, and Sung-Eui Yoon
IEEE International Conference on Control, Automation and Systems (ICCAS), 2022
Abstract Simplified dynamics models have been widely adopted to reduce the computational complexity of motion planning for legged robots. However, not much research has been conducted on the collision avoidance … Continue reading "Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model"
Collision Backpropagation-based Obstacle Avoidance Method for a Legged Robot with Simplified Dynamics Model단순화된 동역학 모델을 가진 보행로봇을 위한 충돌 역전파를 활용한 장애물 회피 방법
https://sgvr.kaist.ac.kr/publication/%eb%8b%a8%ec%88%9c%ed%99%94%eb%90%9c-%eb%8f%99%ec%97%ad%ed%95%99-%eb%aa%a8%eb%8d%b8%ec%9d%84-%ea%b0%80%ec%a7%84-%eb%b3%b4%ed%96%89%eb%a1%9c%eb%b4%87%ec%9d%84-%ec%9c%84%ed%95%9c-%ec%b6%a9%eb%8f%8c/
김진원, 신희찬, and 윤성의
한국로봇학회(KRoC), 2022
KRoC_2022_paper_f
Analysis and Acceleration of TORM: Optimization-based Planning for Path-wise Inverse Kinematics
https://sgvr.kaist.ac.kr/publication/analysis-and-acceleration-of-torm-optimization-based-planning-for-path-wise-inverse-kinematics/
Mincheul Kang and Sung-Eui Yoon
Autonomous Robots, 2022
Implicit LiDAR Network: LiDAR Super-Resolution via Interpolation Weight Prediction
https://sgvr.kaist.ac.kr/publication/iln/
Youngsun Kwon, Minhyuk Sung, and Sung-Eui Yoon
TopIEEE International Conference on Robotics and Automation (ICRA), 2022
Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning
https://sgvr.kaist.ac.kr/publication/confidence-based-robot-navigation-under-sensor-occlusion-with-deep-reinforcement-learning/
Hyeongyeol Ryu, Minsung Yoon, Daehyung Park, and Sung-Eui Yoon
TopIEEE International Conference on Robotics and Automation (ICRA), 2022
Outstanding navigation paper finalist
Code (zip)
RCIK: Real-Time Collision-Free Inverse Kinematics Using a Collision-Cost Prediction Network
https://sgvr.kaist.ac.kr/publication/rcik-real-time-collision-free-inverse-kinematics-using-a-collision-cost-prediction-network/
Mincheul Kang, Yoonki Cho, and Sung-Eui Yoon
TopIEEE Robotics and Automation Letters (RA-L), 2022
Diffraction- and Reflection-Aware Multiple Sound Source Localization
https://sgvr.kaist.ac.kr/publication/diffraction-and-reflection-aware-multiple-sound-source-localization/
Inkyu An, Youngsun Kwon, and Sung-Eui Yoon
TopIEEE Transactions On Robotics (T-RO), 2021
Dynamic Humanoid Locomotion over Rough Terrain with Streamlined Perception-Control Pipeline
https://sgvr.kaist.ac.kr/publication/dynamic-humanoid-locomotion-over-rough-terrain-with-streamlined-perception-control-pipeline/
Moonyoung Lee, Youngsun Kwon, Sebin Lee, JongHun Choe, Junyong Park, Hyobin Jeong, Yujin Heo, Min-su Kim, Jo Sungho, Sung-Eui Yoon, and Jun-Ho Oh
TopIEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2021
Self-Supervised Visual Odometry via Frame Interpolation프레임 보간을 이용한 자기지도학습 기반 영상 주행기록계
https://sgvr.kaist.ac.kr/publication/%ed%94%84%eb%a0%88%ec%9e%84-%eb%b3%b4%ea%b0%84%ec%9d%84-%ec%9d%b4%ec%9a%a9%ed%95%9c-%ec%9e%90%ea%b8%b0%ec%a7%80%eb%8f%84%ed%95%99%ec%8a%b5-%ea%b8%b0%eb%b0%98-%ec%98%81%ec%83%81-%ec%a3%bc%ed%96%89/
이세빈, 임우빈, and 윤성의
한국로봇종합학술대회(KRoC), 2021
KRoC2021_SebinLee_Final_submission_version
Bias tree expansion using reinforcement learning for efficient motion planning모션계획을 위한 강화학습 기반 트리 편향 확장 기술
https://sgvr.kaist.ac.kr/publication/%eb%aa%a8%ec%85%98%ea%b3%84%ed%9a%8d%ec%9d%84-%ec%9c%84%ed%95%9c-%ea%b0%95%ed%99%94%ed%95%99%ec%8a%b5-%ea%b8%b0%eb%b0%98-%ed%8a%b8%eb%a6%ac-%ed%8e%b8%ed%96%a5-%ed%99%95%ec%9e%a5-%ea%b8%b0%ec%88%a0/
윤민성, 박대형, and 윤성의
Korea Robotics Society Annual Conference (KRoC), 2021
Robust Robot Navigation against External Disturbance using Deep Reinforcement Learning외란에 강인한 심층 강화학습 기반 로봇 주행
https://sgvr.kaist.ac.kr/publication/2442/
유형열, 윤민성, 박대형, and 윤성의
한국로봇종합학술대회(KRoC), 2021
Robust_Robot_Navigation_against_External_Disturbance_KRoC21
Deep Neural Network-based Fast Motion Planning Framework for Quadrupedal Robot*
https://sgvr.kaist.ac.kr/publication/2670/
Jinhyeok Jang, Heechan Shin, Minsung Yoon, Seungwoo Hong, Hae-Won Park, and Sung-Eui Yoon
Machine Learning for Motion Planning (MLMP) @ ICRA2021, 2021
Optimization-based Path Planning for Person Following using Following Field
https://sgvr.kaist.ac.kr/publication/optimization-based-path-planning-for-person-following-using-following-field/
Heechan Shin and Sung-eui Yoon
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path
https://sgvr.kaist.ac.kr/publication/torm-fast-and-accurate-trajectory-optimization-of-redundant-manipulator-given-an-end-effector-path/
Mincheul Kang, Heechan Shin, Donghyuk Kim, and Sung-Eui Yoon
TopIEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
Source code: Github ZIP
Adaptive Kernel Inference for Dense and Sharp Occupancy Grids
https://sgvr.kaist.ac.kr/publication/akimap/
Youngsun Kwon, Bochang Moon, and Sung-Eui Yoon
TopIEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020
Source code: Github ZIP
학습 기반 상태 전이 함수를 사용한 Kinodynamic 플래닝
https://sgvr.kaist.ac.kr/publication/%ed%95%99%ec%8a%b5-%ea%b8%b0%eb%b0%98-%ec%83%81%ed%83%9c-%ec%a0%84%ec%9d%b4-%ed%95%a8%ec%88%98%eb%a5%bc-%ec%82%ac%ec%9a%a9%ed%95%9c-kinodynamic-%ed%94%8c%eb%9e%98%eb%8b%9d/
장진혁 and 윤성의
대한전자공학회(IEIE), 2020