4 papers
Enhancing Feature Tracking Reliability for Visual Navigation using Real-Time Safety Filter
Dabin Kim, Inkyu Jang, Youngsoo Han +2
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailabl…
Estimation of Constraint Admissible Invariant Set with Neural Lyapunov Function
Dabin Kim, H. Jin Kim
Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of e…
Topology-Guided Path Planning for Reliable Visual Navigation of MAVs
Dabin Kim, Gyeong Chan Kim, Youngseok Jang +1
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarant…
Aerial Manipulation using Model Predictive Control for Opening a Hinged Door
Dongjae Lee, Hoseong Seo, Dabin Kim +1
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial mani…