Grid-Based 3D Point Cloud Mapping for Outdoor Robot Localization

Kyon-Mo Yang, Seheon Kim, Kap-Ho Seo

Recent advancements in point cloud-based mapping have significantly enhanced outdoor robot localization beyond GPS-only approaches. However, conventional method...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.001

Real-Time Grid-Based 3D Point Cloud Merging for Outdoor Robot Localization

Seheon Kim, Kyon-Mo Yang, Kap-Ho Seo

Recent advances in outdoor autonomous robotics have highlighted the importance of precise localization using 3D point cloud-based mapping. Conventional full-map...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.008

Automatic Waypoint-Based Map Generation Using GPS Trajectory Data

Jaewan Koo, Kyon-Mo Yang, Jeonghoon Kwak, Byong-Woo Gam, Joonwoo Lee, Kap-Ho Seo

In this study, we propose an automatic map generation and path simplification method for autonomous transport robots operating in unstructured outdoor environme...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.014

ICR Modification of Wheel-Legged Robots by Changing the Center of Mass with Leg Motions

Heeseon Hwang, Sangwoong Park, Wonsung Park

In this paper, we show that the Instantaneous Center of Rotation (ICR) points can be modified by changes in the Center of Gravity (CoG). Our small wheel-legged ...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.021

Improving Reinforcement Learning-Based Indoor Exploration Through Uncertainty Estimation

Junsu Ha, Byeongho Lee, Younghun Kim, Sungjun Shim, Duckhyun Suh, Frank Chongwoo Park

Efficient exploration of indoor environments, such as office buildings, is essential for applications in robotics, surveillance, and emergency response. Reinfor...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.026

LiDAR Map-Based Tree Object Recognition and Mission Planning for Variable-Rate Spraying in Orchards

Jiho Kim, Seheon Kim, Jangseok Oh, Byoung-Woo Gam, Joonwoo Lee, Kap-Ho Seo

This study proposes a LiDAR map-based method for variable-rate spraying in orchards. The approach combines SRT-based geofencing, 3D ground modeling, and object-...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.033

Robust Depth Tracking of AUVs via Integration of Sliding Mode and Active Disturbance Rejection Control

Daewon Park, Myungjun Kim, Jonghyon Hwang, Yikyu Kang

In this paper, we propose control method for the depth of an Autonomous Underwater Vehicle (AUV) by integrating Sliding Mode Control with Active Disturbance Rej...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.040

Fully Autonomous Multi-Floor Indoor Map Building System with Exploration and Elevator Interaction

Juhyeong Roh, Gyuree Kang, Yeonchan Kim, D. Hyunchul Shim

This paper presents a fully autonomous multi-floor map-building system that enables a mobile robot to explore indoor environments without human intervention. Th...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.048

Electropermanent Magnet-Based Fast-Response and Variable Stiffness Ball-Socket Joint for Continuum Robots

Taerim Lee, Sinsuk Park, Donghyun Hwang

Variable stiffness mechanisms have been extensively studied to address the limitations of continuum robots that have poor stability and positioning accuracy due...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.058

Non-Rigid Mesh-to-RGBD Registration via Foundation Feature-Based Neural Descriptor Field

Yeongjun Lee, Jongwoo Lim

In this paper, we present a framework for non-rigid alignment between a canonical 3D mesh of a non-rigid object and a single RGB-D image in a category-agnostic ...

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DOI: https://doi.org/10.7746/jkros.2026.21.1.064