publications

2026

1. ICROS

   

   A Learning-based Anomaly Detection Framework for Multi-Robot Systems

   Youngeon Kim, Yohan Jung, Dong Yeop Kim, and Keunhwan Kim

   In Conference of the Institute of Control, Robotics and Systems (ICROS 2026), Jul 2026

   1st author Abs Bib

   1st author

   In an Open-RMF simulation with ten mobile robots, position error, velocity, battery level and mission progress are defined as time-series features, and a Transformer-based self-supervised model (RESTAD) learns spatio-temporal correlations across robots to detect anomalies without labels. On the region-level metric (Aff-F1 0.94) it outperforms LSTM and a plain Transformer. Learning-based follow-up to the rule-based ICCAS 2025 framework.

   @inproceedings{kim2026learning,
     title = {A Learning-based Anomaly Detection Framework for Multi-Robot Systems},
     author = {Kim, Youngeon and Jung, Yohan and Kim, Dong Yeop and Kim, Keunhwan},
     booktitle = {Conference of the Institute of Control, Robotics and Systems (ICROS 2026)},
     year = {2026},
     month = jul,
     address = {Daegu, Korea},
   }

2025

1. ICCAS

   

   Anomaly Detection and Visualization Framework for Multi-Robot Systems Using RMF

   Youngeon Kim, Yohan Jung, Dong Yeop Kim, and Keunhwan Kim

   In 2025 25th International Conference on Control, Automation and Systems (ICCAS), Nov 2025

   1st author Abs Bib

   1st author

   Defines four anomaly types in a multi-robot system (battery depletion, unexpected obstacle, trajectory conflict, collision risk within 0.2 m), detects them in a module decoupled from RMF task allocation, and visualizes them in real time on a WebSocket/ROS-bridge web dashboard. Validated in a Gazebo simulation with 30 mobile robots.

   @inproceedings{kim2025anomaly,
     title = {Anomaly Detection and Visualization Framework for Multi-Robot Systems Using RMF},
     author = {Kim, Youngeon and Jung, Yohan and Kim, Dong Yeop and Kim, Keunhwan},
     booktitle = {2025 25th International Conference on Control, Automation and Systems (ICCAS)},
     year = {2025},
     month = nov,
     pages = {808--811},
     address = {Incheon, Korea},
     publisher = {IEEE},
   }

2. ICCAS

   

   Design and Implementation of an OTA Update Framework for Software-Defined Robots using ROS 2 and Docker

   Dong Yeop Kim, Youngeon Kim, Eunsu Kim, Keunhwan Kim, Euntai Kim, and Deok Gyoon Chung

   In 2025 25th International Conference on Control, Automation and Systems (ICCAS), Nov 2025

   Abs Bib

   Proposes an over-the-air (OTA) update framework that realizes the Software-Defined Robot (SDR) paradigm with ROS 2 and Docker. A dual public-cloud / on-premise OTA server architecture with State and Usage Loggers is designed, and container-level modular deployment on the robot PC is validated with initial-install and update shell scripts as a proof of concept.

   @inproceedings{kim2025ota,
     title = {Design and Implementation of an OTA Update Framework for Software-Defined Robots using ROS 2 and Docker},
     author = {Kim, Dong Yeop and Kim, Youngeon and Kim, Eunsu and Kim, Keunhwan and Kim, Euntai and Chung, Deok Gyoon},
     booktitle = {2025 25th International Conference on Control, Automation and Systems (ICCAS)},
     year = {2025},
     month = nov,
     pages = {1994--1997},
     address = {Incheon, Korea},
     publisher = {IEEE},
   }

2024

1. ICCAS

   

   Traversability Assessment and Path Planning Using Obstacle Recognition Information for Multi-Robot System

   YoungEon Kim, Dong Yeop Kim, and Keunhwan Kim

   In 2024 24th International Conference on Control, Automation and Systems (ICCAS), Oct 2024

   1st author Abs Bib

   1st author

   Each robot detects dynamic obstacles (people) with an RGB-D camera and YOLOv8 and shares them with the RMF server. When the number of obstacles adjacent to a graph edge exceeds a predefined threshold, the edge is deactivated and affected robots proactively re-plan. Experiments with four robots show reduced collision risk and path cost compared with a non-cooperative system.

   @inproceedings{kim2024traversability,
     title = {Traversability Assessment and Path Planning Using Obstacle Recognition Information for Multi-Robot System},
     author = {Kim, YoungEon and Kim, Dong Yeop and Kim, Keunhwan},
     booktitle = {2024 24th International Conference on Control, Automation and Systems (ICCAS)},
     year = {2024},
     month = oct,
     pages = {1670--1671},
     address = {Jeju, Korea},
     publisher = {IEEE},
   }

2. ICROS

   

   Method for Cross-Utilization of Obstacle Recognition Information in a Multi-Robot System for Collaborative Path Planning

   Youngeon Kim, Keunhwan Kim, and Dong Yeop Kim

   In Conference of the Institute of Control, Robotics and Systems (ICROS 2024), Jul 2024

   1st author Abs Bib

   1st author

   Obstacles detected by each mobile robot with a 2D LiDAR and an RGB-D camera (YOLOv8) are transformed into the global map frame and shared so that other robots can use them for collaborative path planning. In the Open-RMF fleet manager, lanes are marked active or inactive from the shared obstacle information so that robots only travel on active lanes. Validated in Gazebo with two robots.

   @inproceedings{kim2024crossutilization,
     title = {Method for Cross-Utilization of Obstacle Recognition Information in a Multi-Robot System for Collaborative Path Planning},
     author = {Kim, Youngeon and Kim, Keunhwan and Kim, Dong Yeop},
     booktitle = {Conference of the Institute of Control, Robotics and Systems (ICROS 2024)},
     year = {2024},
     month = jul,
     address = {Daejeon, Korea},
   }

3. KROC

   

   Cooperative Autonomous Driving System for Multi-Mobile Robots Using Open-RMF

   Youngeon Kim, Keunhwan Kim, and Dong Yeop Kim

   In 19th Korea Robotics Society Annual Conference (KROC 2024), Feb 2024

   1st author Abs Bib

   1st author

   A server-client fleet management system that integrates the Open-RMF middleware with ROS Navigation, so that multiple mobile robots receive tasks from the server and drive cooperatively without collisions using RMF traffic negotiation. Feasibility was validated with real-robot experiments.

   @inproceedings{kim2024openrmf,
     title = {Cooperative Autonomous Driving System for Multi-Mobile Robots Using Open-RMF},
     author = {Kim, Youngeon and Kim, Keunhwan and Kim, Dong Yeop},
     booktitle = {19th Korea Robotics Society Annual Conference (KROC 2024)},
     year = {2024},
     month = feb,
     pages = {455--456},
   }

2023

1. Patent

   Mobile Robot Service System and Method

   Youngeon Kim and others

   2023

   Korea Electronics Technology Institute

   Bib

   @misc{kim2023patent,
     title = {Mobile Robot Service System and Method},
     author = {Kim, Youngeon and others},
     howpublished = {Korean patent application, filed Dec. 2023, published Jul. 2025, under examination},
     year = {2023},
     note = {Korea Electronics Technology Institute},
   }