A Multi-Sensor Module of Snake Robot for Searching Survivors in Narrow Space

Sungjae Kim, Dong-Gwan Shin, Juhyun Pyo, Juseong Shin, Maolin Jin, Jinho Suh

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by conside...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.291

Pose Estimation and Image Matching for Tidy-up Task using a Robot Arm

Jinglan Piao, HyunJun Jo, Jae-Bok Song

In this study, the task of robotic tidy-up is to clean the current environment up exactly like a target image. To perform a tidy-up task using a robot, it is ne...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.299

Robust AUV Localization Incorporating Parallel Learning Module

Gwonsoo Lee, Phil-Yeob Lee, Ho Sung Kim, Hansol Lee, Hyungjoo Kang, Jihong Lee

This paper describes localization of autonomous underwater vehicles(AUV), which can be used when some navigation sensor data are an outlier. In that situation, ...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.306

Efficient Base Repositioning for Mobile Manipulation based on Inverse Reachability

Hong-ryul Jung, Jeongmin Jeon, Francisco Yumbla, Hyungpil Moon

This paper proposes a new method to generate inverse reachability maps that are more efficient for mobile manipulators than the previous algorithms. The base po...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.313

A Study on the Environmental-Based Turning Characteristics of Multi-Purpose Agricultural Robots

Ji-Won Lee, Minsu Kang, Huichang Park, Yongjun Cho, Jangseok Oh, Min-Gyu Kim, Kap-Ho Seo, Min-Ro Park

To improve the driving performance and work efficiency of the multi-purpose agricultural robot, this paper conducted a study on the turning and steering charact...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.319

Development of ROS2-on-Yocto-based Thin Client Robot for Cloud Robotics

Yunsung Kim, Dongoen Lee, Seonghoon Jeong, Hyeongil Moon, Changseung Yu, Kangyoung Lee, Juneyoul Choi, Youngjae Kim

In this paper, we propose an embedded robot system based on “ROS2 on Yocto” that can support various robots. We developed a lightweight OS based on the Yocto Pr...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.327

A Robust Deep Learning based Human Tracking Framework in Crowded Environments

Kyungseok Oh, Sunghyun Kim, Jinseop Kim, Seunghwan Lee

This paper presents a robust deep learning-based human tracking framework in crowded environments. For practical human tracking applications, a target must be r...

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DOI: https://doi.org/10.7746/jkros.2021.16.4.336