60 citations · 178 across the 8 of their papers we have counts for
8 papers
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception
Junwon Seo, Jungwi Mun, Taekyung Kim
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage.…
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics
Taekyung Kim, Jungwi Mun, Junwon Seo +2
In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in…
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control
Hojin Lee, Taekyung Kim, Jungwi Mun +1
High-speed autonomous driving in off-road environments has immense potential for various applications, but it also presents challenges due to the complexity of vehicle-terrain inte…
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environments
Junwon Seo, Taekyung Kim, Kiho Kwak +2
For the safe and successful navigation of autonomous vehicles in unstructured environments, the traversability of terrain should vary based on the driving capabilities of the vehic…
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features
Taekyung Kim, Hojin Lee, Wonsuk Lee
Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a line…
TOAST: Trajectory Optimization and Simultaneous Tracking using Shared Neural Network Dynamics
Taekyung Kim, Hojin Lee, Seongil Hong +1
Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable upd…
Smooth Model Predictive Path Integral Control without Smoothing
Taekyung Kim, Gyuhyun Park, Kiho Kwak +2
We present a sampling-based control approach that can generate smooth actions for general nonlinear systems without external smoothing algorithms. Model Predictive Path Integral (M…
An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm
Taekyung Kim, Seunghyun Lim, Gwanjun Shin +2
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the…