Changjoo Nam

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— We consider optimization of the multi-robot task-allocation (MRTA) problem when the overall performance of the team need not be a standard sum-of-utilities (or costs) model. We introduce a generalization which allows for the additional cost incurred by resource contention to be treated in a straightforward manner. In this variant, robots may have multiple(More)
— In this paper, we propose an algorithmic compass that yields the heading information of a mobile robot using the vanishing point in indoor environments: VPass. With the VPass, a loop-closing effect (which is a significant reduction of errors by revisiting a known place through a loop) can be achieved even for a loop-less environment. From the(More)
— We address the problem of finding the optimal assignment of tasks to a team of robots when the associated costs may vary, which arises when robots deal with uncertain or dynamic situations. We detail how to compute a sensitivity analysis that characterizes how much costs may change before optimality is violated. Using this analysis, robots are able to(More)
—We consider a multi-robot task allocation (MRTA) problem where costs of performing tasks are interrelated so that the overall performance of the team need not be a standard sum-of-costs (or utilities) model. The generalized optimization form we introduce allows for additional costs incurred by resource contention to be treated straightforwardly. In this(More)
— In this paper, we propose a new design of a flexible enveloping grasper for pick and place tasks with the low complexity in manipulation and task planning for the purpose of practical use in the near future. Flexible material for the grasper has many advantageous characteristics inherently including robustness against manipulation errors and the ability(More)
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