2 citations · 4 across the 7 of their papers we have counts for
6 papers · 1 filter
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assu…
Gaussian Mixture-Based Inverse Perception Contract for Uncertainty-Aware Robot Navigation
Bingyao Du, Joonkyung Kim, Yiwei Lyu
Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse p…
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…
Safe Interval RRT* for Scalable Multi-Robot Path Planning in Continuous Space
Joonyeol Sim, Joonkyung Kim, Changjoo Nam
In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by…