Dahyun Oh — accepted AI-conference papers

2026

QP Chaser: Polynomial Trajectory Generation for Autonomous Aerial Tracking (I)

Yunwoo Lee, Jungwon Park, Seungwoo Jung, Boseong Jeon, Dahyun Oh, H. Jin Kim

ICRA 2026poster

Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming (QP). Our approach can handle various tracking settings, including 1) single- and dual-target following a…

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2022

Online Distributed Trajectory Planning for Quadrotor Swarm With Feasibility Guarantee Using Linear Safe Corridor

Jungwon Park, Dabin Kim, Gyeong Chan Kim, Dahyun Oh, H. Jin Kim

RA-L 2022

This letter presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to formulate the distributed trajectory optimization problem with o

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