Inkyu Jang (장인규)

Publications * equal contribution

Manuscripts under Review

1. Upper bound on escape probability for stochastic control barrier functions
   I. Jang, and H. J. Kim
   Paper
2. Enhancing feature tracking reliability for visual navigation using real-time safety filter
   D. Kim*, I. Jang*, Y. Han, S. Hwang, and H. J. Kim
3. Invariance guarantees using continuously parametrized control barrier functions
   I. Jang, and H. J. Kim
   Paper
4. Decentralized trajectory planning for quadrotor swarm in cluttered environments with goal convergence guarantee
   J. Park, Y. Lee, I. Jang, and H. J. Kim

Journal Articles

1. Safe motion planning and control for mobile robots: A survey
   S. Hwang, I. Jang, D. Kim, and H. J. Kim
   International Journal of Control, Automation, and Systems (IJCAS), vol. 22, no. 10, pp. 2955-2969, October 2024.
   Paper
2. Towards fully integrated autonomous excavation: Autonomous excavator for precise earthcutting and onboard landscape inspection
   I. Jang*, J. Kim*, D. Lee*, C. Kim*, C. Oh, Y. Kim, S. Woo, H. Sung, and H. J. Kim
   IEEE Robotics and Automation Magazine (RAM), 2024.
   Paper | Video
3. Safe control for navigation in cluttered space using multiple Lyapunov-based control barrier functions
   I. Jang, and H. J. Kim
   IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 3, pp. 2056-2063, March 2024.
   Paper | Video
4. DLSC: Distributed multi-agent trajectory planning in maze-like dynamic environments using linear safe corridor
   J. Park, Y. Lee, I. Jang, and H. J. Kim
   IEEE Transactions on Robotics (T-RO), vol. 39, no. 5, pp. 3739-3758, October 2023.
   Paper | Video
5. A hybrid controller enhancing transient performance for an aerial manipulator extracting a wedged object
   J. Byun, I. Jang, D. Lee, and H. J. Kim
   IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 21, no. 3, pp. 3264-3273, July 2024.
   Paper | Video
6. Real-time robust receding horizon planning using Hamilton-Jacobi reachability analysis
   H. Seo, D. Lee, C. Y. Son, I. Jang, C. J. Tomlin, and H. J. Kim
   IEEE Transactions on Robotics (T-RO), vol. 39, no. 1, pp. 90-109, February 2023.
   Paper
7. Learning and generalizing cooperative manipulation skills using parametric dynamic movement primitives
   H. Kim, C. Oh, I. Jang, S. Park, H. Seo, and H. J. Kim
   IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 19, no. 4, pp. 3968-3979, October 2022.
   Paper
8. Fast computation of tight funnels for piecewise polynomial systems
   I. Jang, H. Seo, and H. J. Kim
   IEEE Control Systems Letters (L-CSS), vol. 6, pp. 2234-2239, 2022.
   Paper | Presentation Slides (ACC 2022)
9. Aerial manipulator pushing a movable structure using a DOB-based robust controller
   D. Lee, H. Seo, I. Jang, S. J. Lee, and H. J. Kim
   IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 723-730, April 2021.
   ICRA 2021 Best Paper Award on Unmanned Aerial Vehicles
   Paper | Video
10. Fail-safe flight of a fully-actuated quadrotor in a single motor failure
    S. J. Lee, I. Jang, and H. J. Kim
    IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 6403-6410, October 2020.
    Paper
11. Fully actuated autonomous flight of thruster-tilting multirotor
    S. J. Lee, D. Lee, J. Kim, D. Kim, I. Jang, and H. J. Kim
    IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 26, no. 2, pp. 765-776, April 2021.
    Paper | Video
12. Learning transformable and plannable se(3) features for scene imitation of a mobile service robot
    J. H. Park, J. Kim, Y. Jang, I. Jang, and H. J. Kim
    IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 1664-1671, April 2020.
    Paper | Video

Peer-Reviewed Conference Papers

1. Leakage rate as a measure of continuous-time stochastic set invariance
   I. Jang, M. Yoon, and H. J. Kim
   2024 63rd IEEE Conference on Decision and Control (CDC) (accepted)
   Paper
2. Safe receding horizon motion planning with infinitesimal update interval
   I. Jang, S. Hwang, J. Byun, and H. J. Kim
   2024 IEEE International Conference on Robotics and Automation (ICRA)
   Paper | Video | Poster | Presentation Slides
3. Invariance guarantees using continuously parametrized control barrier functions
   I. Jang, and H. J. Kim
   2023 23rd International Conference on Control, Automation and Systems (ICCAS)
   ICCAS 2023 Best Student Paper Award
   Paper
4. Safe and distributed multi-agent motion planning under minimum speed constraints
   I. Jang, J. Park, and H. J. Kim
   2023 IEEE International Conference on Robotics and Automation (ICRA)
   Paper | Video | Poster
5. Decentralized deadlock-free trajectory planning for quadrotor swarm in obstacle-rich environments
   J. Park, I. Jang, and H. J. Kim
   2023 IEEE International Conference on Robotics and Automation (ICRA)
   Paper | Video
6. DHRL: A graph-based approach for long-horizon and sparse hierarchical reinforcement learning
   S. Lee, J. Kim, I. Jang, and H. J. Kim
   2022 36th Conference on Neural Information Processing Systems (NeurIPS)
   Oral Presentation
   Paper | Video
7. Robust and recursively feasible real-time trajectory planning in unknown environments
   I. Jang, D. Lee, S. Lee, and H. J. Kim
   2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
   Paper | Video
8. Real-time motion planning of a hydraulic excavator using trajectory optimization and model predictive control
   D. Lee*, I. Jang*, J. Byun, H. Seo, and H. J. Kim
   2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
   Paper | Video
9. Stability and robustness analysis of plug-pulling using an aerial manipulator
   J. Byun, D. Lee, H. Seo, I. Jang, J. Choi, and H. J. Kim
   2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
   Paper | Video
10. Provably safe real-time receding horizon trajectory planning for linear time-invariant systems
    I. Jang, D. Lee, and H. J. Kim
    2020 20th International Conference on Control, Automation and Systems (ICCAS)
    ICCAS 2020 Outstanding Paper Award
    Paper | Presentation Slides
11. Efficient multi-agent trajectory planning with feasibility guarantee using relative Bernstein polynomial
    J. Park, J. Kim, I. Jang, and H. J. Kim
    2020 IEEE International Conference on Robotics and Automation (ICRA)
    ICRA 2020 Multi-Robot Systems Award Finalist
    Paper | Video