Wonjong Lee — accepted AI-conference papers

2025

Escaping Local Minima: Hybrid Artificial Potential Field with Wall-Follower for Decentralized Multi-Robot Navigation

Joonkyung Kim, Sangjin Park, Wonjong Lee, Woojun Kim, Hyunga Choi, Nakju Lett Doh +1

ICRA 2025

We tackle the challenges of decentralized multi-robot navigation in environments with nonconvex obstacles, where complete environmental knowledge is unavailable. While reactive methods like Artificial Potential Field (APF) offer simplicity and efficiency, they suffer from local minima, causing robot

Cited by 4 Source ↗Scholar ↗

2025

Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention

Wonjong Lee, Joonyeol Sim, Joonkyung Kim, Siwon Jo, Wenhao Luo, Changjoo Nam

IROS 2025

We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary "roundabouts" (circular reference paths). Each robot relies only

Cited by 2 Source ↗Scholar ↗