projects

Robotics projects I led or contributed to at KETI, and earlier undergraduate and internship projects. Open a card for background, role, approach and results.

Projects at KETI (2023.05 – present)
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Open-RMF Multi-Robot Fleet Management

Heterogeneous fleet under one supervisor: 30-robot simulation to 4 real robots, cooperative obstacle sharing and re-planning.
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Robot–Elevator Multi-Floor Navigation

MQTT–ROS 2 bridge and a custom multi-floor action let a real robot call, board and exit an elevator; SOR filtering fixes LiDAR glare.
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SDR OTA Deployment Framework

Docker/Git container deployment with robot profiles, so navigation, elevator and docking modules update without code changes.
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Multi-Robot Anomaly Detection

Fault injection on a 30-robot fleet, rule-based detection with a web dashboard, then Transformer self-supervised detection (Aff-F1 0.94).
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LiDAR-Marker ICP Precision Docking

ArUco → LiDAR trapezoid marker → ICP registration; ±3–5 cm docking on a real robot after a Nav2 approach.
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AGV–Manipulator TCP/IP Protocol

Custom protocol between the supervisory PC, ACS server and stacker AGVs: framing, command IDs, ACK/NACK reasons, heartbeat.
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Outdoor Traversability Navigation

From 3D mesh navigation to an in-house stack: FAST-LIVO2 mapping, grid_map traversability, Pure Pursuit–LOS tracking.

Go2 Multi-Floor Simulation Testbed

One building world ported across Gazebo, Isaac Sim and MuJoCo; quadruped policies and a VLM mission agent that rides the elevator.
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Heterogeneous Logistics Fleet Integration

TETRA carts, stacker AMRs and MiR under Open-RMF: free_fleet changes, docking hand-over, perception and a PySide6 GUI.

Earlier Projects (undergraduate · KIRO internship)

Heterogeneous Robot Training Lab (KIRO)

Curricula and hands-on manuals for 8+ industrial and collaborative robot brands; ran the center's opening demonstration.
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Wheel-Leg Hybrid Robot

Capstone quadruped that drives on wheels and switches to walking over obstacles; mechanical design, 3D modeling and ROS control.
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3-Axis 7-DOF Stability and PID Design

Spring-damper system extended to 28-state space in MATLAB; instability found without control and fixed with PID.
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6-Axis Manipulator Kinematics

D-H parameters, forward/inverse kinematics and cubic-spline paths in MATLAB, verified against hand calculation.
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MFC Dynamixel Actuator Control

C++ MFC GUI driving position, velocity and current modes of an XM430 over TTL with real-time state monitoring.
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Vanishing-Point Lane Detection

Vanishing point plus perspective transform classify four driving states without machine learning.

AI-Agent Work Wiki

Obsidian knowledge base with raw/wiki/conversations tiers and fixed commands so multiple AI agents work consistently.