47 citations · 69 across the 5 of their papers we have counts for
4 papers · 1 filter
Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
Changyu Lee, Kiyong Park, Jinwhan Kim
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the…
NV-LIO: LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments
Dongha Chung, Jinwhan Kim
Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these…
Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment
Changyu Lee, Dongha Chung, Jonghwi Kim +1
In this paper, we describe the development process of autonomous navigation capabilities of a small cruise boat operating in a canal environment and present the results of a field…
Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters
Dongha Chung, Jonghwi Kim, Changyu Lee +1
This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environmen…