NAVIGATION

Autonomous Robot Navigation

  • Vision, LiDAR, magnetic field, beacon-based SLAM (Simultaneous Localization And Mapping)

  • Autonomous navigation of self-driving cars

  • Indoor positioning in a fire disaster situation

  • UAV (Unmanned Aerial Vehicle) navigation

  • Self-localization at GPS outages

  • Underground navigation

  • Autonomous navigation of surface vehicles

  • Underwater robot (AUV, robotic fish) navigation

3D SLAM

3D SLAM (Simultaneous Localization And Mapping)

Basic Concept

  • Donghwa Lee, Hyun Myung, “Solution to the SLAM Problem in Low Dynamic Environments Using a Pose Graph and an RGB-D Sensor," Sensors, vol.14, no.7, pp.12467-12496, [Link], July 2014.

  • Pose Graph-Based RGB-D SLAM in Low Dynamic Environments (Experiment #1)
  • Pose Graph-Based RGB-D SLAM in Low Dynamic Environments (Experiment #2)

Related researches to Kinect Navigation Contest (IROS 2014)

  • 3D SLAM for low dynamic environment
  • Object recognition
  • Optimal path planning and replanning
  • Dynamic obstacle avoidance

MAV (quadrotor) navigation and control

  • Path planning, Path following, Obstacle avoidance
  • Marker(April Tag)-based landing on a moving vehicle
  • Finalist in DJI developer challenge 2016 [Link]

Magnetic field-based SLAM

DV-SLAM (Dual sensor-based Vector-field SLAM)

Seung-Mok Lee, Jongdae Jung, Shin Kim, In-Joo Kim, and Hyun Myung, “DV-SLAM (Dual-sensor-based Vector-field SLAM) and Observability Analysis," IEEE Trans. Industrial Electronics, vol.62, no.2, pp.1101-1112, [DOI], Feb. 2015.

Underground localization

Byeolteo Park and Hyun Myung, “Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling," Measurement Science and Technology, vol.25, no.12, 125101 (12pp), [DOI], Oct. 2014.

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Magnetic sequence-based SLAM

Jongdae Jung, Taekjun Oh, and Hyun Myung, “Magnetic field constraints and sequence-based matching for indoor pose graph SLAM," Robotics and Autonomous Systems, vol.70, pp.92-105, [DOI], Aug. 2015.

Dataset: 'Magnetic field dataset' in link

Seamless localization at Indoor/Outdoor for U-Eco City

Seamless localization at Indoor/Outdoor for U-Eco City

Basic Concept

Localization for Users and Robot

  • Jongdae Jung and Hyun Myung, “Indoor Localization Using Particle Filter and Map-based NLOS Ranging Model,” in Proc. of ICRA (IEEE Int’l Conference on Robotics and Automation), pp.5185-5190, Shanghai, China, May 2011.

Seamless Localization for U-Eco City

Robotic Fish (Fibo) for Aquarium

Robotic Fish (Fibo) for Aquarium

Vision-based Localization

JEROS (Jellyfish Elimination RObotic Swarm)

JEROS (Jellyfish Elimination RObotic Swarm)

System Concept

Experiment

JEROS prototype (version 2)

Formation control of JEROS

Formation Control for Swarm Robots

Formation Control for Swarm Robots

Using Fuzzy Logic (Type-2) for Decentralized Formation Control

Predictive Control Scheme for Swarm Robots

Bird-like Biped Robot for Rough Terrain

Bird-like Biped Robot for Rough Terrain

System Concept Design