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Oh, Hyondong
Autonomous Systems Laboratory
Research Interests
  • Autonomy and decision making for unmanned vehicles
  • Cooperative control and path planning for unmanned vehicles
  • Nonlinear guidance and control
  • Estimation and sensor/information fusion
  • Vision-based navigation and control
  • Bio-inspired self-organising multi-vehicle system

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Receding-horizon RRT-Infotaxis for autonomous source search in urban environments

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dc.contributor.author An, Seulbi ko
dc.contributor.author Park, Minkyu ko
dc.contributor.author Oh, Hyondong ko
dc.date.available 2021-12-31T00:09:28Z -
dc.date.created 2021-12-28 ko
dc.date.issued 2022-01 ko
dc.identifier.citation AEROSPACE SCIENCE AND TECHNOLOGY, v.120, pp.107276 ko
dc.identifier.issn 1270-9638 ko
dc.identifier.uri https://scholarworks.unist.ac.kr/handle/201301/55648 -
dc.description.abstract In emergency situations such as hazardous gas leak, search and estimation for identifying source information, known as source term estimation (STE), in a timely and accurate manner is of significant importance. In real world situations, obstacles such as buildings or barriers not only block the path for search but also interfere the flow of the gas source. For autonomous source search and estimation using a mobile sensor in such obstacle-rich environments, this paper proposes an information-theoretic STE approach by combining a widely-used Infotaxis with the rapidly-exploring random trees (RRT). In particular, the proposed strategy utilizes the receding-horizon RRT concept with a newly designed utility function for determining the next maneuver of a mobile agent to get the best information of the source while avoiding obstacles in urban environments. Numerical simulations in various environments show the superior performance of the proposed approach compared with the original Infotaxis method. ko
dc.language 영어 ko
dc.publisher ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER ko
dc.title Receding-horizon RRT-Infotaxis for autonomous source search in urban environments ko
dc.type ARTICLE ko
dc.identifier.scopusid 2-s2.0-85121152853 ko
dc.identifier.wosid 000774060000002 ko
dc.type.rims ART ko
dc.identifier.doi 10.1016/j.ast.2021.107276 ko
dc.identifier.url https://www.sciencedirect.com/science/article/pii/S1270963821007860?via%3Dihub ko
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