Bukun Son — accepted AI-conference papers

2025

Real-Time Excavation Trajectory Modulation for Slip and Rollover Prevention

Changu Kim, Bukun Son, Minhyeong Lee, Hyelim Choi, Seokhyun Hong, Minsung Kang +3

RA-L 2025

We propose a novel real-time excavation trajectory modulation framework on a slope for an autonomous excavator with a low-level digital kinematic control as common for hydraulic industrial excavators. Excavation on a slope is challenging because of a higher risk of slips and rollovers. To deal with

Cited by 0 Source ↗Scholar ↗

2020

Expert-Emulating Excavation Trajectory Planning for Autonomous Robotic Industrial Excavator

Bukun Son, ChangU Kim, Changmuk Kim, Dongjun Lee

IROS 2020poster

We propose a novel excavation (i.e., digging) trajectory planning framework for industrial autonomous robotic excavators, which emulates the strategies of human expert operators to optimize the excavation of (complex/unmodellable) soils while also upholding robustness and safety in practice. First,…

Cited by 38 Source ↗Scholar ↗