Jeonghyun Byun

Jeonghyun Byun

Fulbrighter | PostDoc @KumarGroup, GRASP, UPENN | PhD in Robotics & Drone

IROS 2026: Safety-critical bilateral teleoperation for omnidirectional aerial manipulation using force-sensorless haptic feedback

[Paper] [Video] [Bibtex]

📃 Abstract: This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators that integrates visual and force-sensorless haptic wrench feedback. Unlike existing approaches that either rely on onboard force/torque sensors or use model-dependent wrench estimates, which may become unreliable under model uncertainties or induce unintended feedback during free-flight, our method implements a hierarchical safety filter based on control barrier function...

ICRA 2025: Safety-critical control for aerial physical interaction in uncertain environment

[Paper] [Video] [Bibtex]

📃 Abstract: Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial manipulator interacting with both static and dynamic structures. Our approach centers on a safety filter that dynamically adjusts the desired trajectory of the vehicle’s pose, accounting for the aerial manipulator’s dynamics, the disturbance observer...

ICUAS 2024: Haptic-based bilateral teleoperation of aerial manipulator for extracting wedged object with compensation of human reaction time

[Paper] [Video] [Bibtex]

📃 Abstract: Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform’s maneuverability and the ability to conduct complex tasks with human supervision. Heretofore, research on such operations has focused on flying without any physical interaction or exerting a pushing force on a contact surface that does not involve abrupt changes in the interaction force. In this paper, we propose a human reaction time ...

RA-L 2024: Image-based time-varying contact force control of aerial manipulator using robust impedance filter

[Paper] [Video] [Bibtex]

📃 Abstract: The use of aerial manipulators for safe and efficient physical interaction with their surrounding environments has been gaining attention within the aerial robotics research community. In this letter, we present an image-based time-varying force tracking controller for an aerial manipulator conducting forceful interaction with a static surface. To this end, we first extract visual features from the surface using a monocular camera and calculate image feature vectors for the rotati...

ICRA 2024: Safe receding horizon motion planning with infinitesimal update interval

[Paper] [Video] [Bibtex]

📃 Abstract: Safety verification in motion planning is known to be computationally burdensome, despite its importance in robotics. In this paper, we investigate the behavior of safe receding horizon motion planners when the update interval becomes infinitesimal. By requiring the trajectory parameters to evolve continuously in time, the trajectory optimization problem is reformulated into a time-derivative form, whose decision variables are their rate of change. This results in a quadratic prog...

T-ASE 2023: A hybrid controller enhancing transient performance for an aerial manipulator extracting a wedged object

[Paper] [Video] [Bibtex]

📃 Abstract: Autonomous aerial manipulation requires the capability to handle inevitable dynamic changes during physical interaction. Previously, very few studies have addressed the stability and transient performance of the scenarios involving abrupt changes in dynamics. This paper proposes a hybrid controller enhancing transient performance for an aerial manipulator extracting an object wedged in a static structure. This task incurs a significant jump in the interaction force on the end-effe...

ICRA 2023: Globally defined dynamic modelling and geometric tracking controller design for aerial manipulator

[Paper] [Video] [Bibtex]

📃 Abstract: This study presents a globally defined dynamics for a conventional multirotor equipped with a single n−DOF manipulator using modified Lagrangian dynamics. This enables the reformulation of entire dynamics directly on SO(3) without exploiting any local coordinates, and thus problems such as the singularity of Euler angles can be avoided. Since skew-symmetric property of Coriolis matrix C and inertia matrix facilitates stability analysis, we propose a method to compute C which guara...

ICRA 2023: Stable contact guaranteeing motion/force control for an aerial manipulator on an arbitrarily tilted surface

[Paper] [Video] [Bibtex]

📃 Abstract: This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the gains of the disturbance-observer (DOB)-based motion/force controller are calculated ...

IROS 2021: Real-time motion planning of a hydraulic excavator using trajectory optimization and model predictive control

[Paper] [Video] [Bibtex]

📃 Abstract: Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time optimization-based trajectory planning of a hydraulic excavator. The proposed framework is composed of two main modules: a global planner and a real-time local planner. The global planner computes the entire global trajectory considering excavation vo...

IROS 2021: Stability and robustness analysis of plug-pulling using an aerial manipulator

[Paper] [Video] [Online Presentation] [Bibtex]

📃 Abstract: In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The abrupt change in the dynamical model before and after the separation of the plug can cause destabilization or mission failure. To accomplish aerial plug-pulling, we employ the concept of hybrid automata to divide the task into three operative modes,...