Il-Kwon Jeong

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In this paper we describe an efficient approach for designing a multi-agent system consisting of mobile robots that cooperate to achieve specific objectives. More specifically we design a cooperative mobile robot system playing a soccer game. Usually it is difficult to design controllers for multi-agent systems without comprehensive knowledge about the(More)
A neural network based controller is derived for a mobile manipulator to track the given trajectories in the workspace. The dynamics of the mobile manipulator is assumed to be unknown completely, and is learned on-line by the radial basis function network (RBFN) with weight adaptation rule derived from the Lyapunov function. Generally, a RBFN can be used to(More)
This paper describes a dynamical local pathplanning algorithm of a n autonomous mobile robot available fo r stationary obstacle avoidance using nonlinear friction. Dynamical path-planning algorithm i s considered to accommodate the mobile robot to the dynamic situation of the path-planning nature. Together with the previous virtual force f i e l d (VFF)(More)
This paper proposes an adaptive robust control scheme for free-flying space robots. In order to simply and effectively control free-flying space robots subject t o parameter uncertainty and disturbances, to avoid the measurement of the base(space vehicle) acceleration, and t o eliminate the assumption that the uncertainty bounds must be a priori known in(More)
A genetic algorithm (GA) has control parameters that must be determined before execution. We propose a self-organizing genetic algorithm (SOGA) as a multimodal function optimizer which sets GA parameters such as population size, crossover probability, and mutation probability adaptively during the execution of a genetic algorithm. In SOGA, GA parameters(More)
We present a method to calculate wave propagation between arbitrary curved surfaces using a staircase approximation approach. The entire curved surface is divided into multiple subregions and each curved subregion is approximated by a piecewise flat subplane allowing the application of conventional diffraction theory. In addition, in order to reflect the(More)
This paper presents a mobile gait training system with body weight support (BWS), which relieves the patient of body weight of a prescribed amount by supporting the subject with a harness. The system is based on electrical motors to achieve system mobility according to the subject's motion of walking while it maintains a constant force on the body based on(More)