The Ocean Robotics & Intelligence Lab is a research group focused on dynamic analysis and intelligent control of marine vehicles and robotic systems. We are conducting research on vehicle dynamics, guidance, control and estimation for various applications in the area of ocean engineering. We are also focusing on developing and implementing innovative algorithms and systems using robotics and artificial intelligence techniques, which are applicable to marine vehicles and autonomous robot systems.

 

Image processing
3D Reconstruction of an underwater environment
Path planning
Analytical criteria for collision avoidance
Path planning using machine learning
Hydrodynamic analysis
Hydrodynamic Analysis of Fish Locomotion
Object Recognition
Vision-based obstacle detection & recognition
Dynamics & Control
Dynamic positioning of an underactuated vehicle
Navigation
Navigation using weld lines
Underwater Navigation using Sensor fusion

Kim, J, Tandale, Monish, Menon, P. K.
Modeling Air-Traffic Service Time Uncertainties for Queuing Network Analysis
IEEE Transactions on Aerospace and Electronic Systems, 2012, Vol. 48, No. 0, pp. 525~ 541

Kim, J., Vaddi, S. S., Menon, P. K. and Ohlmeyer E. J
Comparison between Nonlinear Filtering Techniques for Spiraling Ballistic Missile State Estimation
IEEE Transactions on Aerospace and Electronic Systems, 2012, Vol. 48, No. 0, pp. 313~ 328

Kim, J. and Kim, T.
Terrain-Based Localization using Particle Filter for Underwater Navigation
International Journal of Ocean Engineering, 2011, Vol. 0, No. 0, pp. 0~ 0

Kim, J., Tandale, M., Menon, P. K. and Ohlmeyer, E
Particle Filter for Ballistic Target Tracking with Glint Noise
AIAA Journal of Guidance, Control and Dynamics, 2010, Vol. 33, No. 6, pp. 1918~ 1921

Kim, J., Palaniappan, K., and Menon, P. K.
Rapid Estimation of Impaired Aircraft Aerodynamic Parameters
AIAA Journal of Aircraft, 2010, Vol. 47, No. 4, pp. 1216~ 1228

[Dynamic modeling and simulation for an underwater mine killer robot] Hydrodynamic coeffiencts are estimated by semi analytical / empirical method using specification of robot

[Localization and Navigation in a Time-Invariant Non-Uniform Scalar Field] This project is to develop an algorithm for localization and navigation using a series of point measurements in a time-invariant non-uniform scalar field whose distribution is known.

[AUV Navigation using Sensor fusion] The performance of a sensor is decreasing and available sensors are limited in underwater and therefore sensor fusion is necessary to improve performance.

[Developed multi-purpose intelligent unmmaned surface vehicle] Development of image processing technique considering sensor fusion with vision image and motion sensor

[Development of a global path planning algorithm for AUV] Path planning considering obstacle and complex current field maps