• Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009)
      In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center ...
    • Intruder Capturing Game on a Topological Map Assisted by Information Networks 

      Kim, Jonghoek; Maxon, Sean; Egerstedt, Magnus B.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper ...
    • A provably complete exploration strategy by constructing Voronoi diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2010)
      We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements ...
    • Simultaneous Cooperative Exploration and Networking Based on Voronoi Diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2009)
      We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex territories. Every vehicle deploys communication devices and expands an information network while constructing a topological ...