• 로봇학회논문지
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• 제1권2호
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• pp.107-116
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• 2006

We propose a planning algorithm to automatically generate a robust behavior plan (RBP) with which mobile robots can achieve their task goal from any initial states under dynamically changing environments. For this, task description space (TDS) is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where $A^*$ algorithm is employed. Interesting TDS state vectors are extracted, where occurrence frequency is used. Clusters of TDS state vectors are found by using state transition tuples and features of state transition tuples. From these operations, characteristics of successfully performed tasks by a simulator are abstracted and generalized. Then, a robust behavior plan is constructed as an ordered tree structure, where nodes of the tree are represented by attentive TDS state vector of each cluster. The validity of our method is tested by real robot's experimentation for a box-pushing-into-a-goal task.

• KIEAE Journal
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• 제1권2호
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• pp.63-70
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• 2001

With environmental problems and pollutions accumulated by continuous towns or cities developments events, it is becoming necessary to develop in consideration of environmental effects. This consensus leads to prepare a plan system and instrument for ecological city development, which can be a series of planning indicators. To develope a series of process for environmental friendly development, this study has three main goals as follows; development of policies and programs for environmental friendly development, suggestion of environmental friendly urban design models and standards, development of planning indicators and design guidelines Korean land use plan is operated by both zoning system and detailed plan system. But the available kinds of zoning type are too limited to apply to various and vernacular places. In addition to, the detailed plan is understood to be another regulation which constricts the freedom of building right. In this study, Plan System of Environmentally Friendly Space was studied for domestic affairs In German, Plan System of Environmentally Friendly Space is the field have been progressed before. so In this study, example of German was researched intensively, and Plan System of Environmentally Friendly Space was developed, applicable for the real state in domestic. This study was focused on methodology of landscape planning and planning for afforestation. Landscape planning is performed on condition detail investigation of existent state of nature and local characteristic, and Investigation of Planning for afforestation is more detailed than that of Landscape planning. In the basis of methodology of landscape planning and planning for afforestation, Plan for Environmentally Friendly Urban Habitation Model was developed. Plan for Environmentally Friendly Urban Habitation Model was applicable for state of land use planning. Site was selected Chuk-chun in city yang-in, taking the circumstances into consideration. So landscape planning correspond to land use planning was made out. Adjustment of Land use planning and Landscape planning was very important. Undergoing this process, Plan for Environmentally Friendly Urban Habitation Model was performed.

• International Journal of Aeronautical and Space Sciences
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• 제11권4호
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• pp.326-337
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• 2010

This work addresses problems regarding trajectory planning for unmanned aerial vehicle sensors. Such sensors are used for taking measurements of large nonlinear systems. The sensor investigations presented here entails methods for improving estimations and predictions of large nonlinear systems. Thoroughly understanding the global system state typically requires probabilistic state estimation. Thus, in order to meet this requirement, the goal is to find trajectories such that the measurements along each trajectory minimize the expected error of the predicted state of the system. The considerable nonlinearity of the dynamics governing these systems necessitates the use of computationally costly Monte-Carlo estimation techniques, which are needed to update the state distribution over time. This computational burden renders planning to be infeasible since the search process must calculate the covariance of the posterior state estimate for each candidate path. To resolve this challenge, this work proposes to replace the computationally intensive numerical prediction process with an approximate covariance dynamics model learned using a nonlinear time-series regression. The use of autoregressive time-series featuring a regularized least squares algorithm facilitates the learning of accurate and efficient parametric models. The learned covariance dynamics are demonstrated to outperform other approximation strategies, such as linearization and partial ensemble propagation, when used for trajectory optimization, in terms of accuracy and speed, with examples of simplified weather forecasting.

• 정보처리학회논문지B
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• 제15B권2호
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• pp.159-170
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• 2008

최근 들어 로봇 작업 계획기에 요구되는 중요한 기능 중의 하나가 이미 존재하는 컴포넌트 서비스들을 결합하여 새로운 서비스로 조합해낼 수 있는 계획 기능이다. 본 논문에서는 이러한 컴포넌트 서비스 조합을 위한 커널모듈로 개발된 휴리스틱 탐색 계획기인 JPLAN의 설계와 구현에 대해 설명한다. JPLAN은 효율적인 상태 공간 탐색을 위해 지역 탐색 알고리즘과 계획 그래프 휴리스틱을 이용한다. 본 논문에서 제안하는 지역 탐색 알고리즘인 EHC+는 FF 등의 상태 공간 계획기에 적용되어 높은 효율성을 보인 Enforced Hill-Climbing (EHC)을 확장한 것이다. EHC+는 EHC에 비해 소량의 추가적인 지역 탐색을 필요로 하지만 목표 상태까지 전체 탐색 양을 줄일 수 있고 더 짧은 계획을 얻을 수있다. 또한 본 본문에서는 대규모 상태 공간 탐색에 필수적인 효과적인 휴리스틱 추출 방법을 제안한다. 본 논문에서 제안하는 휴리스틱 추출방법은 Graphplan에서 계획 생성을 위해 처음 제안된 계획 그래프를 이용한다. 본 논문에서는 이러한 계획 그래프 기반의 다양한 휴리스틱들을 소개하고, 이들이 계획 생성에 미치는 효과를 실험을 통해 분석해본다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.407-411
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• 1992

A method for optimal route planning is presented with the assumption that the overall defended area is known in terms of threat potential function. This approach employes tangent plane to reduce the dimension of the state space for optimal programming problems with a state equality constraint. One-dimensional search algorithm is used to select the optimal route among the extermal fields which are obtained by integrating three differential equations from the initial values. In addition to being useful for the route planning through threat potential area, the trajectory planning will be suitable for general two-dimensional searching problems.

• 로봇학회논문지
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• 제16권2호
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• 로봇학회논문지
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• 제2권2호
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• pp.183-190
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• 2007

The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of $A^*$ algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.

• 한국조경학회지
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• 제24권3호
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• pp.133-149
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• 1996

The aim of this study is to compare open space planning between Australia and Korea by Local Governments Areas. Open space planning is carried out at the state and municipal level in Australia, but by metropolitan city government in Korea. This study is structured by reviewing the presemt phenomena of provision of open space in Sydney and Seoul, By measuring disparity in terms of open spaces by L. G. A. s an by comparing planning approaches between two cities, for example policy, government standards, government administration system in open space management. In this paper, the provision of parks in Sydney and Seoul are comparatively examined and geographically mapped, and multiple repression analysis is applied to measure the residuals from the line of equality. The results of this study show that, 1) During the last 1 dacade from '80 and '90. Sydney has increased the quantity of open spaces from ratio of 19.11ha/1000 to 22.33ha/1000 of parks, however Seoul decreased it by the ratio of 12.21$m^2$/person to 1012$m^2$ per person. 2) Sydney has more programs, such as Greenspace program, Metropolitan open space program etc. to increase and to distribute open spaces equally rather than Seoul which has less open spaces. 3) There exists patterned inequality in terms of open space provision in inner city and suburb between Sydney and Seoul. 4) Seoul requires more active polices to increase open spaces like Greenacre Program of New Jerrsey State, Double Open Space Pland of Tokyo or Green Space Program of Sydney.

• 한국주거학회논문집
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• 제24권2호
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• pp.35-44
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• 2013

The purpose of this study is just for parking shall identify the status of the lack of rental apartments to relieve parking shortages. Next performed, and subsequent utilization of space just outside the parking space expansion plan is to present an alternative. Analysis of the study only 30 of the direction of the plan and set standards according to the nature of each complex. Planned urban planning aspects and architectural aspects of a parking space that can expand and classify the types of features will be discussed. Suggestions on how to take advantage of the parking space that can expand only in state owned lands in the urban planning aspects. The Architectural Planning of the side lot line change in the space and change the use of the Common Service Facilities or just to change the internal road system, by changing the way of parking, secure parking space. This way of working to improve the environment of the complex, at least. Actually just the space of improvement to be made with the opinion of the residents and the surrounding areas of the business association, must be preceded by a feasibility study.

• 한국주거학회논문집
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• 제17권3호
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• pp.31-40
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• 2006

The purpose of this study is to grasp the present state of a outdoor space planning and to analysis plan characteristics in based on regional characteristics in Housing complex plan. The analysis result of this study is as follows : first, we know that the right of regional characteristics is appearing variously every research workers. also an analysis about regional characteristics that should be considered in housing complex plan was insufficient. Second, regional characteristics can be classified into 5 factors. These are classified as a context of location, city link, life atmosphere, needs of locals and creation of image. Third, it has originality against other housing complex to graft items connected with 'U contest' on outdoor space planning. Also, it has affirmatively effected on image of Buk-gu and recognition of Dong beyn-dong and Seo beyn-dong. It is get out of the uniform design by a planning based on land and surrounding environment in arrangement and forms. Also residents have the satisfaction and pride in arrangement considering the climate of a region and security of the green space.