Intelligent Robots Lab Chungbuk National University

Autonomous Navigation

Robot navigation & Learning-based method

SAMPLE TEXT. We apply reinforcement learning to locomotion and navigation, with emphasis on safety, sample efficiency, and transfer from simulation to hardware.

Related projects

Team

Gon-Woo Kim

Professor

Department of Intelligent Systems and Robotics

SLAM & State Estimation · Autonomous Navigation · Vision-Language-Action (VLA) · Reinforcement Learning

View full profile

Publications

View All

2026

5 papers

Adaptive Capacity-Density Control on Distributed Laguerre Diagrams: Achieving Area Equalization in Swarm Shape Formation

Phan Gia Luan and Gon-Woo Kim

ICCAS 2026 — International Conference on Control, Automation and Systems

Language-embedded Gaussian Map assisting goal-aware Robot Navigation in Indoor Environment

Phan Thanh Danh, Seon-Woo Kim, and Gon-Woo Kim

ICCAS 2026 — International Conference on Control, Automation and Systems

Memory-based Deep Reinforcement Learning on Topological Sub-goal Generation for Mobile Robot Navigation Under Unknown Environment

Tien Dat Nguyen, Phan Thanh Danh, and Gon-Woo Kim

ICCAS 2026 — International Conference on Control, Automation and Systems

Minimum-Curvature Path Generation for the Formula Student Driverless Competitions

Seon-Woo Kim and Gon-Woo Kim

KRoC 2026 — Korea Robotics Society Annual Conference

Real-Time Object-Centric Mapping Based on Detection, Tracking, and ORB-SLAM

Phan Thanh Danh and Gon-Woo Kim

KRoC 2026 — Korea Robotics Society Annual Conference

2025

2 papers

Perception and Deep Reinforcement Learning-Based Local Path Planner for Autonomous Vehicles

Phan Thanh Danh and Gon-Woo Kim

JKROS 2025 — Journal of Korea Robotics Society

DOI

Real-time Target Tether Following of Nonholonomic Mobile Robot under Distance and Bearing Angle Constraints

Phan Gia Luan and Gon-Woo Kim

KRoC 2025 — Korea Robotics Society Annual Conference

2024

4 papers

Attitude Estimation for IMU using feedback algorithm

Hoang Quoc Hung and Gon-Woo Kim

KRoC 2024 — Korea Robotics Society Annual Conference

Cooperative deep reinforcement learning policies for autonomous navigation in complex environments

Tran Van Manh and Gon-Woo Kim

IEEE Access 2024 — IEEE Access

Cited by 7

DOI

Mapless Navigation with Distributional Reinforcement Learning

Tran Van Manh and Gon-Woo Kim

JKROS 2024 — Journal of Korea Robotics Society

Cited by 4

DOI

Robust Visual-Inertial Navigation System in Dynamic Environment

Le Hoang Huy and Gon-Woo Kim

KRoC 2024 — Korea Robotics Society Annual Conference

2023

4 papers

Collaborative Semantic Mapping for Autonomous Navigation: A Review

Ehsan Ullah Khan and Gon-Woo Kim

KRoC 2023 — Korea Robotics Society Annual Conference

Multi-View Tracking Based Multi-Camera SLAM for Outdoor Environment

Zeeshan Javed and Gon-Woo Kim

UR 2023 — International Conference on Ubiquitous Robots

Sim-to-Real Transfer for Mapless Navigation

Tran Van Manh and Gon-Woo Kim

KRoC 2023 — Korea Robotics Society Annual Conference

Visual Inertial Odometry in Autonomous Navigation System: A Review

Le Hoang Huy and Gon-Woo Kim

KRoC 2023 — Korea Robotics Society Annual Conference

2021

3 papers

A Compute-Efficient Illumination Invariant Visual Place Recognition Method for Autonomous Navigation in Changing Environments

Saba Arshad and Gon-Woo Kim

UR 2021 — International Conference on Ubiquitous Robots

Deep Learning based-State Estimation for Holonomic Mobile Robots Using Intrinsic Sensors

Dinh Van Nam and Gon-Woo Kim

ICCAS 2021 — International Conference on Control, Automation and Systems

Cited by 2

DOI

Deep Neural Network based Loop Closure Detection Method for Autonomous Mobile Robot Navigation in Dynamic Urban Environment

Saba Arshad and Gon-Woo Kim

KRoC 2021 — Korea Robotics Society Annual Conference

2020

4 papers

A hierarchical control system for autonomous driving towards urban challenges

Dinh Van Nam and Gon-Woo Kim

Appl. Sci. 2020 — Applied Sciences

Cited by 48

DOI

A Universal Control System for SelfDriving Car Towards Urban Challenges

Dinh Van Nam and Gon-Woo Kim

BigComp 2020 — IEEE International Conference on Big Data and Smart Computing

Cited by 3

DOI

Clothoid: an integrated hierarchical framework for autonomous driving in a dynamic urban environment

Saba Arshad, Sualeh Muhammad, Do-Hyeong Kim, Dinh Van Nam, and Gon-Woo Kim

Sensors 2020 — Sensors

Cited by 16

DOI

Multi-sensor fusion towards VINS: A concise tutorial, survey, framework and challenges

Dinh Van Nam and Gon-Woo Kim

BigComp 2020 — IEEE International Conference on Big Data and Smart Computing

Cited by 16

DOI

2019

5 papers

A Real-Time V2X enabled Dynamic Path Planning System for Autonomous Vehicles in Road Blockage Test Scenarios

Saba Arshad and Gon-Woo Kim

IROS 2019 — IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of An Efficient and Practical Control System in Autonomous Vehicle Competition

Dinh Van Nam and Gon-Woo Kim

ICCAS 2019 — International Conference on Control, Automation and Systems

Cited by 2

DOI

Efficient LiDAR pre-processing for multiple object detection and tracking

Sualeh Muhammad and Gon-Woo Kim

KRoC 2019 — Korea Robotics Society Annual Conference

Multiple solution using model predictive control based-path tracking algorithm for autonomous vehicle

Dinh Van Nam and Gon-Woo Kim

KRoC 2019 — Korea Robotics Society Annual Conference

Providing Ground Test Scenarios in Real Time Environment for V2X Enabled Global Path Planning

Saba Arshad and Gon-Woo Kim

ICCAS 2019 — International Conference on Control, Automation and Systems

2018

3 papers

Fuzzy logic and deep steering control based recommendation system for self-driving car

Dinh Van Nam and Gon-Woo Kim

ICCAS 2018 — International Conference on Control, Automation and Systems

Model predictive controller based-path tracking for autonomous vehicle: A simple kinetic model and MPC Implementation with latency compensate

Dinh Van Nam and Gon-Woo Kim

ICROS 2018 — 제어로봇시스템학회 학술대회

Range sensor-based efficient obstacle avoidance through selective decision-making

Young-Bo Shim and Gon-Woo Kim

Sensors 2018 — Sensors

Cited by 6

DOI

2017

2 papers

Dual Expanded Guide Circle (Dual-EGC) algorithm for obstacle avoidance of remotely operated mobile robot

Do-Hyeong Kim and Gon-Woo Kim

URAI 2017 — International Conference on Ubiquitous Robots and Ambient Intelligence

DOI

확장 가이드 서클 방법을 이용한 비홀로노믹 이동로봇의 실시간 장애물 회피

Young-Bo Shim and Gon-Woo Kim

JKROS 2017 — 로봇학회논문지

DOI

2016

1 paper

원격 조작 이동로봇을 위한 다중 확장 가이드 서클 기반 충돌회피 방법

Dong-Gyu Kim and Gon-Woo Kim

KIEE 2016 — 대한전기학회 학술대회

2015

11 papers

2D 레이저 스캐너를 이용한 자율 이동로봇의 효율적인 도킹 알고리즘

Dong-Gyu Kim, Seoung-Jin Lim, and Gon-Woo Kim

KRoC 2015 — Korea Robotics Society Annual Conference

Any-Angle Path Planner 와 확장 가이드 서클 기법을 이용한 효율적인 장애물 회피 온라인 경로계획

Young-Bo Shim and Gon-Woo Kim

KFIS 2015 — 한국지능시스템학회 학술발표대회

Autonomous Navigation of the Mobile Robot using the Exterior Penalty Function Method

Young-Jong Jung and Gon-Woo Kim

ICEIC 2015 — International Conference on Electronics, Information and Communication

Expanded Guide Circle 기법을 이용한 효율적인 장애물 회피 온라인 경로계획 및 추종

Young-Bo Shim and Gon-Woo Kim

KRoC 2015 — Korea Robotics Society Annual Conference

Expanded Guide Sphere 기반 3 차원 공간에서의 쿼드콥터의 충돌회피 원격 조작

Do-Hyeong Kim and Gon-Woo Kim

CICS 2015 — 정보 및 제어 학술대회

Implementation of Collision Avoidance Using Modification of the Expanded Guide Circle for Tele-operated Robots

Seung Hwan Park and Gon-Woo Kim

AMM 2015 — Applied Mechanics and Materials

DOI

다양한 Visual Feature 에 대한 Real-Time Appearance based Map 성능 비교 분석

양은성 and Gon-Woo Kim

CICS 2015 — 정보 및 제어 학술대회

베지어 곡선을 이용한 자율이동로봇의 효율적인 도킹 알고리즘

Dong-Gyu Kim and Gon-Woo Kim

CICS 2015 — 정보 및 제어 학술대회

수중 구조물 진단용 원격 조종 로봇의 자세 제어를 위한 비전 기반 센서 융합

Jae-Min Lee and Gon-Woo Kim

JICROS 2015 — 제어로봇시스템학회 논문지

실내 환경에서의 AGV Path tracking 방법 비교

Seoung-Jin Lim and Gon-Woo Kim

KRoC 2015 — Korea Robotics Society Annual Conference

확장 가이드 서클을 이용한 포스 피드백 기반 충돌 회피 주행 조작 방법

Seoung-Jin Lim and Gon-Woo Kim

CICS 2015 — 정보 및 제어 학술대회

2014

6 papers

Any-angle Path Planning 기반의 안전경로계획

Young-Bo Shim and Gon-Woo Kim

ICROS 2014 — 제어로봇시스템학회 학술대회

Autonomous navigation in an agriculture product processing center

Jae-Min Lee, Young-Bo Shim, and Gon-Woo Kim

URAI 2014 — International Conference on Ubiquitous Robots and Ambient Intelligence

DOI

Expanded Guide Circle 기반 이동 로봇의 자율 주행 알고리즘

신창섭, Young-Bo Shim, and Gon-Woo Kim

ICROS 2014 — 제어로봇시스템학회 학술대회

Expanded Guide Circle-based obstacle avoidance for the remotely operated mobile robot

Seunghwan Park and Gon-Woo Kim

JEET 2014 — Journal of Electrical Engineering and Technology

Cited by 10

DOI

Safe Path Planning using the modified Theta* Path Planner

Jae-Min Lee, Young-Bo Shim, and Gon-Woo Kim

ICEIC 2014 — International Conference on Electronics, Information and Communication

비용함수와 서브 골을 이용한 비선형 최적화 방법 기반의 이동로봇 장애물 회피 주행

Young-Jong Jung and Gon-Woo Kim

KIEE 2014 — 대한전기학회 논문지

2013

8 papers

Expanded Guide Circle-based Obstacle Avoidance for The Remotely Operated Mobile Robot

Chang-Seop Shin and Gon-Woo Kim

RO-MAN 2013 — IEEE International Symposium on Robot and Human Interactive Communication

Operator Standpoint-Based Remote Operation System Considering the Operational Convenience for a Mobile Robot

Chang-Seop Shin and Gon-Woo Kim

RiTA 2012 (Springer) — Robot Intelligence Technology and Applications 2012, Springer

DOI

Theta* 알고리즘을 이용한 자율이동로봇의 전역경로계획 방법

신창섭, Young-Bo Shim, Jae-Min Lee, and Gon-Woo Kim

CICS 2013 — 정보 및 제어 학술대회

Uncalibrated visual servoing through the efficient estimation of the image Jacobian for large residual

Gon-Woo Kim

JEET 2013 — Journal of Electrical Engineering and Technology

Cited by 8

DOI

비선형 최소자승법과 정규화된 가중치 행렬을 이용한 이동로봇의 주행 알고리즘

Young-Jong Jung and Gon-Woo Kim

KIEE 2013 — 대한전기학회 학술대회

사용자 중심의 조작 방향을 고려한 조작자 관점 기반의 원격 조작 시스템

신창섭, 박현룡, and Gon-Woo Kim

KRoC 2013 — Korea Robotics Society Annual Conference

이동 로봇을 위한 조작자 중심 기반의 원격 조작 시스템

신창섭 and Gon-Woo Kim

CICS 2013 — 정보 및 제어 학술대회

퍼지제어에 의한 전방향 구동형 이동로봇의 자동 주차 시스템

윤힘찬, 황정욱, 윤희상, 박태형, and Gon-Woo Kim

KIEE 2013 — 대한전기학회 학술대회

2011

2 papers

비선형 최적화 방법을 이용한 이동로봇의 주행

Gon-Woo Kim and 차영엽

KIEE 2011 — 대한전기학회 논문지

효율적인 이미지 자코비언 추정을 통한 비교정 비주얼 서보잉

Gon-Woo Kim

KROS-ICROS 2011 — 한국로봇학회·제어로봇시스템학회 합동학술대회

2010

2 papers

RC서보모터 비교실험

차영엽 and Gon-Woo Kim

KROS-ICROS 2010 — 한국로봇학회·제어로봇시스템학회 합동학술대회

비선형 최적화 방법을 이용한 이동로봇의 주행

Gon-Woo Kim

KRoC 2010 — Korea Robotics Society Annual Conference

2009

6 papers

Application of perturbation/correlation based gradient estimation for environment exploration

Jungyun Bae, Gon-Woo Kim, and Sooyong Lee

IJCAS 2009 — International Journal of Control, Automation and Systems

Cited by 3

DOI

Autonomous Outdoor Navigation of a Skid-Steered Mobile Robot based on Multi-sensor Fusion: for 2009 International Robot Outdoor Navigation Competition

Gon-Woo Kim and Yun-oh Choi

URAI 2009 — International Conference on Ubiquitous Robots and Ambient Intelligence

Mono Vision based Electrophoretic Deposition Robot Control

Jae-Byung Park and Gon-Woo Kim

ROBOMEC 2009 — JSME Robotics and Mechatronics Conference

DOI

Uncalibrated Visual Servoing Technique with Obstacle Avoidance using Nonlinear Least Squares Optimization

Gon-Woo Kim and Jae-Byung Park

ROBOMEC 2009 — JSME Robotics and Mechatronics Conference

DOI

수정된 비용함수를 이용한 비선형 최적화 방법 기반의 이동로봇의 장애물 회피 비주얼 서보잉

Gon-Woo Kim

KIEE 2009 — 대한전기학회 논문지

전역경로계획을 위한 단경로 스트링에서 당기기와 밀어내기 SOFM을 이용한 방법의 비교

차영엽 and Gon-Woo Kim

JICROS 2009 — 제어로봇시스템학회 논문지

2008

6 papers

A mobile robot exploration strategy with low cost sonar and tungsten-halogen structured light

Nosan Kwak and Gon-Woo Kim

JIRS 2008 — Journal of Intelligent & Robotic Systems

Cited by 5

DOI

Efficient Self-Localization of Mobile Robot using High Accurate Geo-Location System with Position Tracking Bias

Gon-Woo Kim, Moon-Kyou Song, and Sang-Moo Lee

URAI 2008 — International Conference on Ubiquitous Robots and Ambient Intelligence

Joint TOA/DOA based geolocation system for social safety robots

Sujin Kim, Na Young Kim, Joonhyuk Kang, Gon-Woo Kim, Sang-Moo Lee, and Kyung-Tae Nam

IASTED 2008 — IASTED International Conference

비선형 최소 자승법을 이용한 이동로봇의 장애물 회피 비주얼 서보잉

Gon-Woo Kim

KROS-ICROS 2008 — 한국로봇학회·제어로봇시스템학회 합동학술대회

전역경로계획을 위한 단경로 스트링에서 당기기와 밀어내기 SOFM을 이용한 방법의 비교

차영엽 and Gon-Woo Kim

KROS-ICROS 2008 — 한국로봇학회·제어로봇시스템학회 합동학술대회

지능형 로봇을 위한 디지털 융합기술

Gon-Woo Kim and 이상무

JIEIE 2008 — 전자공학회지

2007

6 papers

Perturbation/Correlation기반 gradient 추정법의 이동로봇 환경탐사에의 적용

배정연, 이수용, Gon-Woo Kim, 남경태, and 이상무

KRS 2007 — 한국로봇공학회 하계종합학술대회

Visual servoing of a wheeled mobile robot using unconstrained optimization with a ceiling mounted camera

Gon-Woo Kim, Kyung-Tae Nam, and Sang-Moo Lee

RO-MAN 2007 — IEEE International Symposium on Robot and Human Interactive Communication

Cited by 5

DOI

비선형 최소 자승법을 이용한 이동 로봇의 비주얼 서보 네비게이션

Gon-Woo Kim, 남경태, and 이상무

JKRS 2007 — 로봇공학회 논문지

비선형 최소 자승법을 이용한 이동 로봇의 비주얼 서보 네비게이션

Gon-Woo Kim, 남경태, and 이상무

KRS 2007 — 한국로봇공학회 하계종합학술대회

진공용 나노스테이지의 이중 서보 제어에 관한 연구

남경태, Gon-Woo Kim, 강은구, 홍원표, and 이상무

KSPE 2007 — 한국정밀공학회 춘계학술대회

효율적 환경탐사를 위한 Gradient 및 확률기반 이동로봇 경로계획기

배정연, 이수용, Gon-Woo Kim, 최무성, and 남경태

CASS 2007 — Control, Automation, and Systems Symposium

2006

1 paper

Target tracking using the efficient estimation of the image Jacobian with large residual

Gon-Woo Kim and Beom Hee Lee

Robotica 2006 — Robotica

Cited by 4

DOI

2005

3 papers

Active Range Sensing and Grid Map Building using Halogen Sheet-of-Light

Gon-Woo Kim, Nosan Kwak, and Beom Hee Lee

URAI 2005 — International Conference on Ubiquitous Robots and Ambient Intelligence

Collision and Turnover Avoidance of Mobile Robots with Force Reflection

Jae Byung Park, Jeong Hee Lee, Gon-Woo Kim, and Beom Hee Lee

IFAC 2005 — IFAC Proceedings Volumes

Cited by 3

DOI

Force Reflection based Guided Navigation Control for Teleoperated Mobile Agents

J. B. Park, K. W. Lee, S. H. Park, Gon-Woo Kim, and B. H. Lee

HWRS 2005 — International Workshop on Human-friendly Welfare Robotic Systems

2004

1 paper

Adaptive regulation of robot joint velocity in uncalibrated visual servoing

Gon-Woo Kim and Beom Hee Lee

ICRA 2004 — IEEE International Conference on Robotics and Automation

DOI

2003

3 papers

Efficient regulation of joint velocity in uncalibrated visual servoing

Gon-Woo Kim and Beom Hee Lee

AIM 2003 — IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Cited by 1

DOI

Efficient Regulation of the Joint Velocities for the System Stability in Uncalibrated Visual Servoing Using Large Residual

Gon-Woo Kim and Beom Hee Lee

IJARM 2003 — International Journal of Assistive Robotics and Mechatronics

Uncalibrated visual servoing technique using large residual

Gon-Woo Kim, Beom Hee Lee, and M. S. Kim

ICRA 2003 — IEEE International Conference on Robotics and Automation

Cited by 6

DOI

2001

1 paper

Uncalibrated Visual Servoing 기술을 이용한 이동 물체 추적

Gon-Woo Kim and 이범희

BK21 2001 — SNU-KU BK21 IT Workshop

← All research areas