SPaT/R2X-based Navigation
Communication-assisted crosswalk navigation using signal phase and remaining-time information from roadside infrastructure.
Research
Infrastructure-Aware Navigation for Autonomous Mobile Robots
My research focuses on enabling autonomous mobile robots to understand and safely traverse signalized urban intersections by combining communication, robotic navigation, perception, and simulation.
Core Direction
Research Focus
ROS 2 / Nav2 Safety Systems
Integration of localization, obstacle awareness, signal-aware decision logic, and safe velocity control for mobile robots.
Intersection Intelligence
Infrastructure-aware scene understanding for pedestrians, vehicles, traffic lights, occlusions, and complex crossing situations.
Current Progress
Recent Work
Recent work connects field experiments and simulation. The goal is to move from a signal-aware crossing algorithm toward a reproducible robotic system that can be tested in both real and digital-twin environments.
SPaT/R2X AMR Crosswalk Navigation
Developed a time-aware crosswalk decision framework using SPaT remaining-time information and a Time-to-Cross criterion.
Delivery Robot ROS 2 Integration
Configured LiDAR, IMU, camera, odometry, joint states, and ROS 2 communication for a Delivery Robot simulation pipeline.
Fast-LIO2 and Nav2 Navigation Pipeline
Applied LiDAR-based SLAM and navigation components for map generation, localization, and autonomous driving tests.
VLM-based Intersection Understanding
Preparing infrastructure-camera and simulation scenarios for future VLM-based interpretation of urban intersections.