Kunjin Ryu

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This paper presents a platform- and hardware-in-the-loop simulator (PHILS), which was developed for the evaluation of cooperative performance of multiple autonomous robots and their testing in virtual environments. The simulator consists of computers each with a graphics processing unit (GPU), monitors, a network switch that links the computers, and a(More)
This paper presents a grid-based scan-to-map matching technique for accurate 2D map building. At every acquisition of a new scan, the proposed technique matches the new scan to the previous scan similarly to the conventional techniques, but further corrects the error by matching the new scan to the globally defined map. In order to achieve best scan-to-map(More)
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