4 papers
Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
Joonkyung Kim, Wenxi Chen, Davood Soleymanzadeh +9
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning a…
CARE: Enhancing Safety of Visual Navigation through Collision Avoidance via Repulsive Estimation
Joonkyung Kim, Joonyeol Sim, Woojun Kim +2
We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particular…
Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Wonjong Lee, Joonyeol Sim, Joonkyung Kim +3
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightwe…
Escaping Local Minima: Hybrid Artificial Potential Field with Wall-Follower for Decentralized Multi-Robot Navigation
Joonkyung Kim, Sangjin Park, Wonjong Lee +3
We tackle the challenges of decentralized multi-robot navigation in environments with nonconvex obstacles, where complete environmental knowledge is unavailable. While reactive met…