Yoonchang Sung

I am a postdoctoral associate in the Learning and Intelligent Systems Group within the Computer Science and Artificial Intelligence Laboratory at MIT, hosted by Prof. Tomás Lozano-Pérez and Prof. Leslie Pack Kaelbling.

I received my Ph.D. degree in the Bradley Department of Electrical and Computer Engineering at Virginia Tech under Prof. Pratap Tokekar in 2019. I received my M.S. and B.S. degrees in the School of Mechanical Engineering from Korea University in 2013 and 2011, respectively.

Email: yooncs8 [@] csail [DOT] mit [DOT] edu  /  CV

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Research

I'm interested in designing algorithms for task and motion planning and multi-robot systems.

Publication

Journal Articles

  1. Y. Sung, S. Bearman, Z. Chen, J. Das, and P. Tokekar, “Decision-theoretic approaches for robotic environmental monitoring—a survey,” Note: In preparation.

  2. Y. Sung, D. Dixit, and P. Tokekar, “Online multi-robot exploration of a translating plume: competitive algorithm and experiments,” Note: Under review. [PDF] [BibTeX] [DOI]

  3. Y. Sung, and P. Tokekar, “GM-PHD filter for searching and tracking an unknown number of targets with a mobile sensor with limited FOV,” IEEE Transactions on Automation Science and Engineering (T-ASE), Note: Conditionally accepted. [PDF] [BibTeX] [DOI]

  4. Z. Zhang, J. Lee, J. M. Smereka, L. Zhou, Y. Sung, and P. Tokekar, “Game tree search for minimizing detectability and maximizing visibility,” Autonomous Robots (AURO), pp. 1-15, 2021. [PDF] [BibTeX] [DOI]

  5. Y. Sung, A. K. Budhiraja, R. K. Williams, and P. Tokekar, “Distributed assignment with limited communication for multi-robot multi-target tracking,” Autonomous Robots (AURO), Special Issue on Robot Communication Challenges, pp. 57-73, 2020. [PDF] [BibTeX] [DOI]

  6. C. Knabe, R. Griffin, J. Burton, G. Cantor-Cooke, L. Dantanarayana, G. Day, O. Ebeling-Koning, E. Hahn, M. Hopkins, J. Neal, J. Newton, C. Nogales, V. Orekhov, J. Peterson, M. Rouleau, J. Seminatore, Y. Sung, J. Webb, N. Wittenstein, J. Ziglar, A. Leonessa, B. Lattimer, and T. Furukawa, “Team VALOR's ESCHER: A novel electromechanical biped for the DARPA Robotics Challenge,” Journal of Field Robotics (JFR), 34(5): pp. 912-939, 2017. [PDF] [BibTeX] [DOI]

  7. Y. Sung, and W. Chung, “Hierarchical sample-based joint probabilistic data association filter for following human legs using a mobile robot in a cluttered environment,” IEEE Transactions on Human-Machine Systems (T-HMS), 46(3): pp. 340-349, 2016. [PDF] [BibTeX] [DOI]

Refereed Conference Publications

  1. Y. Sung, L. P. Kaelbling, and T. Lozano-Pérez, “Learning when to quit: meta-reasoning for motion planning,” Note: Under review. [PDF] [BibTeX] [DOI]

  2. K. Zheng, Y. Sung, G. Konidaris, and S. Tellex, “Multi-resolution POMDP planning for multi-object search in 3D,” Note: Under review. [PDF] [BibTeX] [DOI]

  3. K. Zheng, R. Chinis, Y. Sung, G. Konidaris, and S. Tellex, “Anonymous title,” Note: Under review.

  4. S. Li*, D. Park*, Y. Sung*, J. A. Shah, and N. Roy, “Reactive task and motion planning under temporal logic specifications,” IEEE International Conference on Robotics and Automation (ICRA 2021), 2021. [PDF] [BibTeX] [DOI]

  5. Y. Sung, D. Dixit, and P. Tokekar, “Environmental hotspot identification in limited time with a UAV equipped with a downward-facing camera,” IEEE International Conference on Robotics and Automation (ICRA 2021), 2021. [PDF] [BibTeX] [DOI]

  6. Z. Zhang, J. Lee, J. M. Smereka, Y. Sung, L. Zhou, and P. Tokekar, “Tree search techniques for minimizing detectability and maximizing visibility,” IEEE International Conference on Robotics and Automation (ICRA 2019), 2019. [PDF] [BibTeX] [DOI]

  7. Y. Sung, and P. Tokekar, “A competitive algorithm for online multi-robot exploration of a translating plume,” IEEE International Conference on Robotics and Automation (ICRA 2019), 2019. [PDF] [BibTeX] [DOI]

  8. Y. Sung, A. K. Budhiraja, R. K. Williams, and P. Tokekar, “Distributed simultaneous action and target assignment for multi-robot multi-target tracking,” IEEE International Conference on Robotics and Automation (ICRA 2018), 2018. [PDF] [BibTeX] [DOI]

  9. Y. Sung, and P. Tokekar, “Hierarchical GM-PHD filter for false alarm reduction in search and tracking task,” US-KOREA Conference on Science, Technology and Entrepreneurship (UKC 2017), 2017.

  10. Y. Sung, and P. Tokekar, “Algorithm for searching and tracking an unknown and varying number of mobile targets using a limited FoV sensor,” IEEE International Conference on Robotics and Automation (ICRA 2017), 2017. [PDF] [BibTeX] [DOI]

  11. J. H. Kim, Y. Sung, and B. Lattimer, “Bayesian estimation based real-time fire-heading in smoke-filled indoor environments using thermal imagery,” IEEE International Conference on Robotics and Automation (ICRA 2017), 2017. [PDF] [BibTeX] [DOI]

  12. Y. Sung, and T. Furukawa, “Information measure for the optimal control of target searching via the grid-based method,” International Conference on Information Fusion (Fusion 2016), 2016.

  13. B. Lattimer, J. Starr, J. McNeil, C. Nogales, J. Peterson, J. Ziglar, J. Burton, C. Knabe, Y. Sung, J. Seminatore, R. Griffin, J. Newton, V. Orekhov, M. Rouleau, M. Hopkins, D. Hong, and D. Lee, “Humanoid firefighting robot for structure fires,” International Conference and Exhibition on Fire Science and Engineering (Interflam 2016), 2016.

  14. D. Cha, H. Cho, J. Jin, H. Kwon, J. Kim, H. Lee, J. Seong, C. Moon, H. Kim, Y. Sung, and W. Chung, “Tracking human legs for an indoor mobile robot with a single laser range finder,” International Conference on Engineering and Applied Sciences (ICEAS 2015), 2015.

  15. Y. Sung, and W. Chung, “Human tracking of a mobile robot with an onboard LRF (Laser Range Finder) using human walking motion analysis,” International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011), 2011.

Refereed Workshop Publications

  1. Y. Sung, “Multi-robot coordination for hazardous environmental monitoring,” Robotics: Science and Systems (RSS) Pioneers, 2019.

  2. Y. Sung, S. Buebel, and P. Tokekar, “Detecting and mapping hazardous plumes with aerial and surface robots,” IEEE International Conference on Robotics and Automation (ICRA 2018) Workshop on Robot Teammates Operating in Dynamic, Unstructured Environment, 2018.

  3. Y. Sung, A. K. Budhiraja, R. K. Williams, and P. Tokekar, “Distributed simultaneous action and target assignment for multi-robot multi-target tracking,” IEEE International Conference on Robotics and Automation (ICRA 2017) Workshop on Multi-robot Perception-driven Control and Planning, 2017.

Book Chapters

  1. C. Knabe, R. Griffin, J. Burton, G. Cantor-Cooke, L. Dantanarayana, G. Day, O. Ebeling-Koning, E. Hahn, M. Hopkins, J. Neal, J. Newton, C. Nogales, V. Orekhov, J. Peterson, M. Rouleau, J. Seminatore, Y. Sung, J. Webb, N. Wittenstein, J. Ziglar, A. Leonessa, B. Lattimer, and T. Furukawa, “Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge,” The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue. Springer, Cham., pp. 583-629, 2018.

Posters

  1. Y. Sung, and W. Chung, “Implementation of JPDAFs to track humans for a mobile robot with a laser range finder,” IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2013), 2013.

Design and source code from Jon Barron's website