3 citations · 8 across the 12 of their papers we have counts for
14 papers
Distilling Privileged Control Barrier Functions into RGB-Only Safety Filters for Dynamic Visual Navigation
Seungyeon Yoo, Gawon Lee, Seungwoo Jung +2
RGB-only end-to-end visual navigation policies remain vulnerable to collisions in real-world dynamic environments, motivating a dedicated safety layer. Existing visual Control Barr…
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…
Characterization and Analysis of Emergency Landing Flight Envelopes with Graded Safety Specifications
Chams Eddine Mballo, Bryce L. Ferguson, Inkyu Jang +2
Emergency landing flight envelope analysis traditionally adopts a binary notion of safety, whereby a trajectory is safe only if state constraints are satisfied pointwise in time. I…
Periodic Skill Discovery
Jonghae Park, Daesol Cho, Jusuk Lee +3
Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodi…
EigenSafe: A Spectral Framework for Learning-Based Probabilistic Safety Assessment
Inkyu Jang, Jonghae Park, Sihyun Cho +3
We present EigenSafe, an operator-theoretic framework for safety assessment of learning-enabled stochastic systems. In many robotic applications, the dynamics are inherently stocha…
Invariance Guarantees using Continuously Parametrized Control Barrier Functions
Inkyu Jang, H. Jin Kim
Constructing a control invariant set with an appropriate shape that fits within a given state constraint is a fundamental problem in safety-critical control but is known to be diff…
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…
DHRL: A Graph-Based Approach for Long-Horizon and Sparse Hierarchical Reinforcement Learning
Seungjae Lee, Jigang Kim, Inkyu Jang +1
Hierarchical Reinforcement Learning (HRL) has made notable progress in complex control tasks by leveraging temporal abstraction. However, previous HRL algorithms often suffer from…
Decentralized Deadlock-free Trajectory Planning for Quadrotor Swarm in Obstacle-rich Environments -- Extended version
Jungwon Park, Inkyu Jang, H. Jin Kim
This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment un…
Robust and Recursively Feasible Real-Time Trajectory Planning in Unknown Environments
Inkyu Jang, Dongjae Lee, Seungjae Lee +1
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibilit…
Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control
Dongjae Lee, Inkyu Jang, Jeonghyun Byun +2
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannabil…
Stability and Robustness Analysis of Plug-Pulling using an Aerial Manipulator
Jeonghyun Byun, Dongjae Lee, Hoseong Seo +3
In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to…
Fail-safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure
Seung Jae Lee, Inkyu Jang, H. Jin Kim
In this paper, we introduce a new quadcopter fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a regular multirotor even when a sin…
Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein Polynomial
Jungwon Park, Junha Kim, Inkyu Jang +1
This paper presents a new efficient algorithm which guarantees a solution for a class of multi-agent trajectory planning problems in obstacle-dense environments. Our algorithm comb…