PhD Dissertation

  • Autonomous Navigation for Airborne Applications, Australian Centre for Field Robotics, The University of Sydney, 2004

    My PhD work was about "Autonomous navigation (or localisation)" which is the process of determining a platform’s pose without the use of any a priori information external to the platform except for what the platform senses about the environment. That is, the determination of the platform’s pose without the use of predefined maps or infrastructure developed for navigation purposes such as terrain aided navigation systems or Global Navigation Satellite System (GNSS). The objective of this thesis is to both develop and demonstrate autonomous localisation algorithms for airborne platforms. Read more here... [abstract][thesis.pdf (9M)][Bibtex].

Selected Publications

1

Journal Article (2016)

J. Cheng and J. Kim. Dual-quaternion-based Graph SLAM, Robotics and Autonomous Systems, 2016.

1

Journal Article (2015)

Jiantong Cheng, Jonghyuk Kim, Jinliang Shao, Weihua Zhang. Robust linear pose graph-based SLAM, Robotics and Autonomous Systems, 72: 71-82. 2015.

1

Journal Article (2015)

J. S. Kim and J. Kim. GPmap: A Unified Framework for 3D Mapping Based on Sparse Gaussian Processes, Springer Tracts in Advanced Robotics, L. Mejias, P. Corke, J. Roberts (Eds), Volume 105, 2015, pp 319-332, ISBN 978-3-319-07487-0.

1

Journal Article (2015)

J. Liu, H; Hou, X; Kim, J; Zhong, Y. Decoupled and Robust Velocity Controller for Uncertain Quadrotors, Asian Control Journal, vol. 17, no 1, pp. 1-9, January 2015

1

Journal Article (2013)

S. Kim and J. Kim. Occupancy Mapping and Surface Reconstruction using Local Gaussian Processes with Kinect Sensors, IEEE Transactions on Systems, Man and Cybernetics - Part B, 43 (05), 1335-1346, Oct. 2013

1

Journal Article (2007)

J. Kim and S. Sukkarieh. Real-time implementation of airborne inertial-SLAM, Robotics and Autonomous Systems, Issues 55, 62–71, 2007. (accessed via DOI) [pre-print.pdf]

1

1

IEEE ICRA Conference (2006)

J. Kim and S. Sukkarieh. Robust Multi-loop Airborne SLAM. In IEEE International Conference on Robotics and Automation (ICRA'06), Orlando, Florida USA. (Accessed via IEEEXplore) [pre-print.pdf][digest.pdf]
1

Book Chapter (2006)

Kim J., Sukkarieh S., and Wishart, S., “Real-Time Navigation, Guidance and Control of a UAV using Low-Cost Sensors,” Field and Service Robotics: Springer Tracts in Advanced Robotics, Yuta, S., Asama, H., Thrun, S., Prassler, E., Tsubouchi, T. (Eds.) , Vol 24, Springer, July 2006, DOI 10.1007/10991459_29. [pre-print.pdf]

Book Chapter (2005)

Kim J. and Sukkarieh S., “Recasting SLAM – Towards Improving Efficiency and Platform Independency”,
Springer Tracts in Advanced Robotics: In Robotics Researches, Springer, pp. 399 – 408 Aug 2005, ISBN: 3-540-23214-1. (Accessed by DOI)

Journal Article (2004)

Kim J., Ong S., Nettleton E. and Sukkarieh S. Decentralised Approach to unmanned aerial vehicle navigation: without the use of GPS and preloaded map. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Professional Engineering Publishing, Vol. 218, Number 6, Pages 399-416, 2004. (Accessed by DOI) [pre-print.pdf]

Journal Article (2004)

Kim J. and Sukkarieh S. Autonomous Airborne Navigation in Unknown Terrain Environments. In IEEE Transactions on Aerospace and Electronic Systems, 40(3):1031-1045, July 2004. (Accessed by DOI)

Journal Article (2003)

Sukkarieh S., Nettleton E., Kim J., Ridley M., Goktogan A., and Durrant-Whyte H. The ANSER Project: Multi-UAV Data Fusion. In International Journal on Robotics Research, Vol 22, Isssue 7/8, 2003 [abstract][pdf][Bibtex].(Accessed by DOI)

Book Chapter (2003)

Göktoan A., Sukkarieh S., Iikyildiz G., Nettleton E., Ridley M., Kim J., Randle J and Wishart S., "The Real-Time Development and Deployment of a Cooperative Multi-UAV System," Lecture Notes in Computer Science, Springer Berlin / Heidelberg, Volume 2869, Page 576-583, 2003, DOI-10.1007/b14229 (Accessed via Springer)

Conference (2003)

Kim J. and Sukkarieh S. Airborne Simultaneous Localisation and Map Building. In IEEE International Conference on Robotics and Automation (ICRA'03), Taipei, Taiwan, 2003. (Cited by 15)

Conference (2003)

Kim J. and Sukkarieh S. A baro-altimeter augmented INS/GPS navigation system for an uninhabited aerial vehicle. In International Symposium on Satellite Navigation Technology (SATNAV), Melbourne, Australia, July 2003 [pre-print.pdf].

Conference (2003)

Kim J. and Sukkarieh S. and Wishart S. Real-time Navigation, Guidance and Control of a UAV using Low-cost Sensors. In International Conference of Field and Service Robotics (FSR'03), pages 95–100, Yamanashi, Japan, July 2003

Conference

Kim J. and Sukkarieh S. Flight Test Results of GPS/INS Navigation Loop for an Autonomous Unmanned Aerial Vehicle (UAV). In International Technical Meeting of the Satellite Division of the Institute of Navigation (ION'02), pages 510–517, Portland, OR, USA, September 2002 [pre-print.pdf] (cited by 5)

Reviewed Papers

  • ICRA(07), FSR(05) Conference Papers
  • IEEE Transaction on Robotics and Automation (05), Neural Network(06) and PAMI(04)
  • Journal of Aerospace Science and Technology (04)
  • Journal of Measurement Science and Technology (04)
  • International Journal of Control, Automation and System (JCAS) (04)