Yoonchang Sung

Journal Articles

  1. Y. Sung, and P. Tokekar, “A competitive algorithm for online multi-robot exploration of a translating plume,” IEEE Transactions on Robotics (T-RO), Note: In Preparation.

  2. Y. Sung, J. Das, and P. Tokekar, “An introduction to decision-theoretic tools for robotic environmental monitoring,” IEEE Robotics and Automation Magazine (RAM), Note: In Preparation.

  3. Z. Zhang, J. Lee, JM Smereka, Y. Sung, L. Zhou, and P. Tokekar, “Tree search techniques for minimizing detectability and maximizing visibility,” IEEE Robotics and Automation Letters (RA-L), Note: In Preparation.

  4. Y. Sung, AK Budhiraja, RK Williams, and P. Tokekar, “Distributed assignment with limited communication for multi-robot multi-target tracking,” Autonomous Robots (AURO), Special Issue on Robot Communication Challenges, Note: Conditionally Accepted. [PDF] [BibTeX] [DOI]

  5. @incollection{sung2018distributed,
      title={Distributed simultaneous action and target assignment for multi-robot multi-target tracking},
      author={Sung, Yoonchang and Budhiraja, Ashish Kumar and Williams, Ryan K and Tokekar, Pratap},
      journal={arXiv preprint arXiv:1812.11172},
      year={2018}
    }
    
  6. 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: Revision Under Review. [PDF] [BibTeX] [DOI]

  7. @incollection{sung2018gm,
      title={GM-PHD filter for searching and tracking an unknown number of targets with a mobile sensor with limited FOV},
      author={Sung, Yoonchang and Tokekar, Pratap},
      journal={arXiv preprint arXiv:1812.09636},
      year={2018}
    }
    
  8. 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]

  9. @incollection{knabe2018team,
      title={Team valor’s escher: A novel electromechanical biped for the darpa robotics challenge},
      author={Knabe, Coleman and Griffin, Robert and Burton, James and Cantor-Cooke, Graham and Dantanarayana, Lakshitha and Day, Graham and Ebeling-Koning, Oliver and Hahn, Eric and Hopkins, Michael and Neal, Jordan and others},
      booktitle={The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue},
      pages={583--629},
      year={2018},
      publisher={Springer}
    }
    
  10. 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]

  11. @article{sung2016hierarchical,
      title={Hierarchical sample-based joint probabilistic data association filter for following human legs using a mobile robot in a cluttered environment},
      author={Sung, Yoonchang and Chung, Woojin},
      journal={IEEE Transactions on Human-Machine Systems},
      volume={46},
      number={3},
      pages={340--349},
      year={2016},
      publisher={IEEE}
    }
    

Refereed Conference Publications

  1. Y. Sung, and P. Tokekar, “Optimal sampling of a hazardous plume using a heterogeneous team of aerial and surface robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Note: In Preparation.

  2. Y. Sung, and P. Tokekar, “Robot routing algorithms for translational TSP with neighborhoods,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Note: In Preparation.

  3. Z. Zhang, J. Lee, JM 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), Note: Accepted. [BibTeX]

  4. @article{zhang2019tree,
      title={Tree Search Techniques for Minimizing Detectability and Maximizing Visibility},
      author={Zhang, Zhongshun and Lee, Joseph and Smereka, Jonathon and Sung, Yoonchang and Zhou, Lifeng and Tokekar, Pratap},
      booktitle={Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
      year={2019}
      note={to appear}
    }
    
  5. 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), Note: Accepted. [PDF] [BibTeX] [DOI]

  6. @article{sung2018competitive,
      title={A Competitive Algorithm for Online Multi-Robot Exploration of a Translating Plume},
      author={Sung, Yoonchang and Tokekar, Pratap},
      journal={arXiv preprint arXiv:1811.02769},
      year={2018}
    }
    
  7. Y. Sung, AK Budhiraja, RK 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]

  8. @inproceedings{sung2018distributed,
      title={Distributed simultaneous action and target assignment for multi-robot multi-target tracking},
      author={Sung, Yoonchang and Budhiraja, Ashish Kumar and Williams, Ryan K and Tokekar, Pratap},
      booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
      pages={1--9},
      year={2018},
      organization={IEEE}
    }
    
  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. @inproceedings{sung2017algorithm,
      title={Algorithm for searching and tracking an unknown and varying number of mobile targets using a limited FoV sensor},
      author={Sung, Yoonchang and Tokekar, Pratap},
      booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},
      pages={6246--6252},
      year={2017},
      organization={IEEE}
    }
    
  12. JH 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]

  13. @inproceedings{kim2017bayesian,
      title={Bayesian estimation based real-time fire-heading in smoke-filled indoor environments using thermal imagery},
      author={Kim, Jong-Hwan and Sung, Yoonchang and Lattimer, Brian Y},
      booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},
      pages={5231--5236},
      year={2017},
      organization={IEEE}
    }
    
  14. 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.

  15. 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.

  16. 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.

  17. 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, 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.

  2. Y. Sung, AK Budhiraja, RK 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.