3 citations · 5 across the 10 of their papers we have counts for
7 papers · 1 filter
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…
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…
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…
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…