1 citations · 1 across the 10 of their papers we have counts for
11 papers
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
Inkyu Jang, Gregorio Marchesini, Nicola De Carli +15
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation…
Safe Embodied AI for Long-horizon Tasks: A Cross-layer Analysis of Robotic Manipulation
Dabin Kim, Daemin Park, Sangyub Lee +4
Embodied AI systems are increasingly expected to reason and act over extended horizons in physical environments. This growing capability brings safety to the foreground, because fa…
ReaDy-Go: Real-to-Sim Dynamic 3D Gaussian Splatting Simulation for Environment-Specific Visual Navigation with Moving Obstacles
Seungyeon Yoo, Youngseok Jang, Dabin Kim +3
Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to targ…
Personalized Autonomous Driving via Optimal Control with Clearance Constraints from Questionnaires
Yongjae Lim, Dabin Kim, H. Jin Kim
Driving without considering the preferred separation distance from surrounding vehicles may cause discomfort for users. To address this limitation, we propose a planning framework…
HERE: Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization
Taekbeom Lee, Dabin Kim, Youngseok Jang +1
We present HERE, an active 3D scene reconstruction framework based on neural radiance fields, enabling high-fidelity implicit mapping. Our approach centers around an active learnin…
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…
Visibility-Constrained Control of Multirotor via Reference Governor
Dabin Kim, Matthias Pezzutto, Luca Schenato +1
For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem wher…
Online Distributed Trajectory Planning for Quadrotor Swarm with Feasibility Guarantee using Linear Safe Corridor
Jungwon Park, Dabin Kim, Gyeong Chan Kim +2
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The propo…
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…