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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


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

DC Field Value Language An, Seulbi ko Park, Minkyu ko Oh, Hyondong ko 2021-12-31T00:09:28Z - 2021-12-28 ko 2022-01 ko
dc.identifier.citation AEROSPACE SCIENCE AND TECHNOLOGY, v.120, pp.107276 ko
dc.identifier.issn 1270-9638 ko
dc.identifier.uri -
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.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 ko
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