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 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 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)
—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)
— 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)
In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays that are perpendicular to the velocity of the vehicle. Under such a sensor configuration, singularities are bound to occur in the curve(More)
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)
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