• ETRI Journal
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• v.40 no.4
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• pp.471-482
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• 2018

This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.1089-1094
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• 2004

Agents in Mlulti-Agent Systems (MAS) should make use of a common Agent Communication Language (ACL) in order to negotiate with others, and conform to negotiation protocols that are designed to reach agreements. Therefore, agents must have suitable architectures that could cover above requirements. In this paper, we define an instructive ACL and compare it with other ACLs such as Foundation for Intelligent Physical Agents(FIPA) ACL and Knowledge Query Manipulation Language (KQML). In particular, we represent agents as logic programs with beliefs, desires, intentions and negotiation library. Finally, we show how the planner, which is in the negotiation library, provides plans of actions and updates agent's beliefs.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.257-264
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• 2015

This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.323-326
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• 2006

The operation planning of multi-AUV is considered as a very difficult task. This paper proposes the qualitative method about the operation plan of multi-agents. In order to achieve this goal, it applies an extension collision map method as a tool to avoide collision between multi AUVs. This tool has been developed for the purpose of collision forecasting and collision avoidance for the multi - agents system in a land where a control is much easier. This paper analyzes the avoidance value of maximum path of AUV in order to apply this to a water environment where a tidal, a wave and disturbances are common. And it suggests the method that the maximum path avoidance can be applied to the collision avoidance on the extension collision map. Finally, the result proves that multi AUVs effectively navigates to the goal point, avoiding the collision by the suggested method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2235-2245
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• 2000

The necessity of using rapid prototyping(RP) for short-run manufacturing is continuously driving a development of a cost-effective technique that will produce completely-finished quality parts in a very short time. To meet these demands, the improvements in production speed, accuracy, materials, aid cost are crucial. Thus, a new hybrid-RP system performing both deposition and machining in a station is proposed. For the new hybrid RP process to maintain the same degree of process automation as in currently available processes like SLA or FDNI, a sophisticated process planning system is developed. In the process planner, CAD models(STEP AP203) are partitioned into 3D manufacturable volumes called 'Ueposition feature segment"(DFS) after machining features called "machining feature segmenf'(MFS) are extracted from the initial CAD model. Once MFS and DFS are identified, the process planner arranges them into a chain of processes and automatically generates machining information for each DFS and MFS. The goal of this paper is to present a framework for a process planning system for hybrid RP processes and to outline the geometric algorithms involved in developing such an environment.

• The KIPS Transactions:PartD
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• v.13D no.4 s.107
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• pp.619-624
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• 2006

Currently domestic game market rapidity is developmental but the game production process does not become systematization. Also it is bringing the failure of game that problem point of conversation between game planner and game developer.. The research which to conversation between game planner and game developer it sees does extracting a game element to expressed game characteristics from the product for game planning and it change extracted element into class and In order to express the relationship of element for it presents a relationship of class. Instance research it leads. It grasps a relationship among extracted classes and it supports systematic game planning.

• Journal of Internet Computing and Services
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• v.8 no.1
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• pp.115-123
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• 2007

Agents in Multi-Agent System; (MAS) should make use of a common Agent Communication Language (ACL) in order to negotiate with others, and conform to negotiation protocols thatare designed to reach agreements. Therefore, agents must have suitable architectures that could cover above requirements. In this paper, we define an instructive ACL and compare it with other ACLs such as Foundation for Intelligent Physical Agents (FIPA) ACL and Knowledge Query Manipulation Language(KQML), In particular, we represent agents as logic programs with knowledge base and negotiation library. Finally, we show how the planner, which is in the negotiation library, provides the plan of actions and updates agent's knowledge base.

• Annual Conference of KIPS
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• 2017.11a
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• pp.937-940
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• 2017

본 연구는 유저 크리에이티브 지식 매체를 생성함에 있어 기존 일방적 전달 방식에서 탈피하여 자신이 가지고 있는 정보를 다수의 사람과 공유 할 수 있는 3세대 다방향(Mash-Up) 교육에 관한 연구하여 SNS와 클라우드 요소를 통해 공유할 수 있는 플랫폼을 개발하는 방안을 제안하고 있다. 본 연구는 1)LIVE_BOARD 2)TIMELINE 3)NEWS FEED 4)PLANNER로 나뉜다. Live_Board의 실시간 스트리밍을 활용하여 영상 이미지기반 의사소통을 지원하고, SNS적 요소인 TimeLine, News Feed를 통해 다른 사용자들과 정보 공유를 할 수 있고, Planner를 통해 개인 스케줄 관리를 할 수 있는 플랫폼이다.