연구회 활동

IFAC CAMS 2019 Daejeon

일정: 2019년 9월 18일 (수)~20일 (금) / 장소: KAIST

조직위원회 활동 및 국제교류

수중로봇 학회지 특집호

편집위원: 최현택

논문접수: 7편

2020년 3월 제15호 1권

제 14회 한국로봇종합학술대회 워크샵

일정: 2019년 1월 23일 (수)

주제: 해양 로봇의 항법 및 제어 기술 개발 현황

주관: 최진우 박사

IROS Workshop: New Horizons for Underwater Intervention Missions: from Current Technologies to Future Applications

Organizers:

• Prof. Pedro J. Sanz (Spain)
• Prof. Oussama Khatib (USA)
• Dr. Hyun Choi (Korea)
• Prof. Sadao Kawamura (Japan)
• Prof. Pere Ridao (Spain)

Date & Time:

• 5th October 2018 (Friday) / 9:00 - 14:00

Objectives

• This Workshop aims to review and rethinking current technologies, foundations and new approaches for getting a step forward beyond the current "underwater intervention systems" state of the art. To this aim, a group of well-known researchers, with complimentary expertise, will explain and discuss the last results from different knowledge areas needed to progress towards this aforementioned long term objective.
• The development of a new kind of I-AUVs, able to work autonomously, alone or in a cooperative way, opens the door to face the multi-purpose underwater intervention problem, with potential applications not only in the offshore and nuclear industries, but also in archaeology, oceanography or search and rescue missions, among other purposes.
• At the end of the workshop, an open discussion will be guided by organizers in order to identify new synergies and bridging the gaps between current developments and the cutting age technology needed for the future intervention systems, promoting also new collaborations by sharing data, experimental setup, environment, and ideas.

Information:

• Workshop Homepage

로봇학회 학회지 특집호

최현택

"로봇 항법과 SLAM 기술: 수중 로봇 항법 기술의 소개와 이해"

로봇과 인간 제15권 2호, 2018.04

IROS Workshop: Workshop on Acoustic based Navigation for Marine Robots

Objectives

• Navigation of marine robots has been known as one of the most challenging topics in robotics. Navigation methods for marine robots consisting of IMU/DVL-based deal reckoning and any updates obtained from recognition of natural or artificial environmental features have been proposed. Each method has unique characteristics with their respective pros and cons. Considering navigation in larger areas, acoustic-based navigation methods have been successfully demonstrated with respect to robustness. Here, range, bearing, and/or both information effectively correct and bound cumulative error growth. Additionally, it is showing great promise for multiple robots such as homogeneous or heterogeneous configurations, including underwater and surface robots. In these multiple robots collaborations, we are trying to build a low-cost navigation system without integrated IMU/DVL systems; not only for a follower, but also for the team leader.
• For this, we consider the basic fundamentals of acoustics, and implement various filtering and estimation algorithms to improve signal quality. Now we need to do something more to increase overall performance and to lower the cost of the system itself, and its operation.
• In this workshop, we will share the-state-of-the art technologies of acoustic-based navigation including difficulties and limitations first. Then we will propose new ideas to break through and describe recent results of both theory and practice. Here, we unite experts in the interdisciplinary field of autonomous aquatic robotics to integrate acoustics to bridge the gap between (1) modeling and prediction for persistent, closed-loop control, (2) online learning in highly dynamic and uncertain environments, and (3) coordination of heterogeneous multi-robot teams. Specifically we highlight new work that lies at the intersection of robotics, control theory, artificial intelligence, machine learning, ocean science, long-term autonomy and transport theory.
• At the end of the workshop, we will be looking for collaborations by sharing data, experimental setup, environment, and ideas.

Information:

• Workshop Homepage