NAVIGATION

Quadruped Robot Navigation and Control

Blind locomotion using IMU and joint encoders with machine learning techniques
Exteroception & proprioception sensing based state estimation
Terrain mapping
Local & global planning

Related papers

Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-ha Kim, Hae-won Park, and Hyun Myung, “STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor," IEEE RA-L (Robotics and Automation Letters), vol.7, no.2, pp.4456 – 4463, Apr. 2022. [Link]
I Made Aswin Nahrendra, Byeongho Yu, and Hyun Myung, “DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning ," in Proc. IEEE Int’l Conf. on Robotics and Automation (ICRA), pp. 5078-5084, London, UK, May 2023. [Link]
I Made Aswin Nahrendra, Minho Oh, Byeongho Yu, Hyungtae Lim, and Hyun Myung, “Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination," in Proc. Robotics: Science and Systems (RSS 2023) Workshop, Daegu, Korea, Jul. 2023. [Link]

Snapshots

Videos

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]

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.