List of English Publication

@article{nokey,

title = {Maintaining and steering a formation in an unknown dynamic environment via a consistent distributed dynamic map},

author = {Miao Guo and Bayu Jayawardhana and Jin Gyu Lee and Hyungbo Shim},

doi = {/10.1002/rnc.7414},

issn = { 1049-8923},

year  = {2024},

date = {2024-05-22},

urldate = {2024-05-22},

journal = {International Journal of Robust and Nonlinear Control},

volume = {34},

issue = {13},

pages = {8785-8801},

abstract = {In this paper, we study the problem of maintaining a stable mobile robot formation, steering and localizing all robots in an unknown dynamic environment consisting of multiple periodically moving objects, without the presence of a global positioning system or a robot tracking system. We propose a distributed observer such that each agent can estimate global positions of all mobile robots and that of moving landmarks in an unknown environment. By combining the proposed distributed observer with the distributed formation control and centroid tracking control law, we show that the formation shape can be maintained by utilizing its available relative measurements and the estimated relative measurements to its neighbors, and the group's centroid follows a desired trajectory. We present 

 stability analysis of the closed-loop system. Finally, we validate the proposed methods in a simulation result where a group of mobile robots can maintain a robust formation and maneuver in an unknown dynamic environment.},

keywords = {Formation control, Localization, simultaneous localization and mapping},

pubstate = {published},

tppubtype = {article}

}

@article{nokey,

title = {Spectral Trade-off for Measurement Sparsification of Pose-graph SLAM},

author = {Jiyeon Nam and Soojeong Hyeon and Youngjun Joo and DongKi Noh and Hyungbo Shim},

url = {https://ieeexplore.ieee.org/document/10333265},

doi = {10.1109/LRA.2023.3337590},

issn = {2377-3766},

year  = {2024},

date = {2024-01-02},

urldate = {2024-01-02},

journal = {IEEE Robotics and Automation Letters},

volume = {9},

issue = {1},

pages = {723 - 730},

abstract = {In this paper, we propose a trade-off optimization algorithm to compute an appropriate number of edges for measurement (edge) sparsification in pose-graph SLAM. The greater the amount of measurement data, the larger is the computational burden. To reduce computational burden, one can remove a portion of measurements. However, reliable data, such as odometric measurements, can be lost if measurements are removed without any principle. To remove measurements which is redundant, we propose a trade-off optimization algorithm between maximization of the Fiedler value and minimization of the largest eigenvalue of adjacency matrix for measurement graph. This problem formulation gives virtues twofold. First, it is scalable. For any dataset, when a weight for trade-off is given, this algorithm determines the appropriate number of edges since this is a trade-off optimization problem. Second, the edges of the measurement graph can be distributed evenly. The algorithm considers the minimization of the largest eigenvalue of the adjacency matrix, so it suppresses the upper bound of the maximum degree of the measurement graph. It removes the redundant information concentrated on a few nodes, and improves the estimation accuracy of the sparsified graph. To validate the performance of the proposed trade-off optimization algorithm, we apply our approach to CSAIL, Intel, and Manhattan datasets.},

keywords = {optimal control, simultaneous localization and mapping},

pubstate = {published},

tppubtype = {article}

}