Jonghoek Kim

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— In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the feedback control(More)
We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements to make the vehicle track Voronoi edges between obstacles. The exploration algorithms make decisions at vertices in the Voronoi diagram to(More)
We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological map based on Voronoi diagrams. As the information network weaved by each vehicle grows, intersections eventually happen so that the(More)
—We present novel exploration algorithms and control law that enable the construction of Voronoi diagram in an initially unknown area using one vehicle equipped with range scanners. Our control law and exploration algorithms are provably complete , i.e., convergence is guaranteed. The control laws use range measurements to make the vehicle track Voronoi(More)
— We present novel exploration algorithms and a control law that enable the construction of Voronoi diagrams over unknown areas using a single autonomous vehicle equipped with range sensors. Our control law and exploration algorithms are provably complete. The control law uses range measurements to enable tracking Voronoi edges between two obstacles.(More)
The Bearing-Only Target Motion Analysis (BOTMA) problem is to estimate the position and velocity of a target using bearing measurements. In this paper, we assume that the observer can access the inequality constraints imposed on target's speed, range, or target's course. For example, one constraint on a target's range is that it is upper bounded by the(More)
Consider a team of mobile agents monitoring large areas, e.g. in the ocean or the atmosphere, with limited sensing resources. Only the leader transmits information to other agents, and the leader has a role to monitor battery levels of all other agents. Every now and then, the leader commands all other agents to move toward or away from the leader with(More)
—Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper bounds for the minimum number of searchers required to capture all intruders on a Voronoi graph. Intruder capturing algorithms are(More)
  • Jonghoek Kim
  • 2013
We develop strategies that enable multiple robots to cooperatively explore an unknown workspace while building information networks. Every robot deploys information nodes with sensing and communication capabilities while constructing the Voronoi diagram as the topological map of the workspace. The resulting information networks constructed by individual(More)
The Doppler-Bearing Target Motion Analysis (DBTMA) problem arises in various military applications related to target tracking. The DBTMA problem is to estimate the position and velocity of a target using both frequency and bearing measurements. As the method to increase the estimation accuracy in the DBTMA problem, this paper introduces observer motion(More)
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