Dabin Kim

CDC 2023: Visibility-Constrained Control of Multirotor via Reference Governor

[Paper(draft)]

For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the visibility of a point of interest while tracking a reference given by a high-level planner. We devise a method based on reference governor that, differently from existing solutions, is able to enforce control-level visibility constraints with theoreticall...

2022: Online distributed trajectory planning for quadrotor swarm with feasibility guarantee using linear safe corridor

<!– — title: “Online distributed trajectory planning for quadrotor swarm with feasibility guarantee using linear safe corridor” header: teaser: tumbnails/cdc23.PNG conference: R-AL links: paper: # file: download/IROS20_full.pdf link: https://dabinkim-lgom.github.io/download/CDC23_arxiv.pdf name: “Paper(draft)” - video: link: https://www.youtube.com/watch?v=hPOXH6_0_IE name: “Video” - bibtex: name: “Bibtex”

IROS 2021: Topology-guided path planning for reliable visual navigation of MAVs

[Paper(draft)] [Video]

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on perception-aware path planning focused on sampling-based planners. However, they may suffer from sample inefficiency, which leads to computational burden for finding a global optimal path. To address this issue, we suggest a perception-aware path planner which ut...

2020: Decentralized Planning For Active Information Gathering On Targets With Probabilistic Model

Motion strategies for multiple robots actively acquiring information in a dynamic environment have been widely studied. However, existing active information gather- ing algorithms are restricted by assumption of linear target process, or deals with only limited number of agents and targets because of high cost of reward computation. In this paper, we formulated the active information gathering problem with the belief distribution of desired process, instead of a specific model. The reward f...

ICCAS 2019: Trajectory Tracking for Cooperative Transportation with T3-multirotor

[Paper] [Bibtex]

This paper suggests a new cooperative transportation system with T³-multirotors. From the promising characteristics of T³-multirotor for fully-actuated motion, the proposed system is able to track a desired payload trajectory which is impossible with a conventional underactuated multirotor. Unlike other cooperative methods such as slung-load transportation and aerial manipulator, the system can accommodate simpler mechanism by directly attaching cargo to the multirotor body. We build the dyna...