Changjoo Nam

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Changjoo Nam (남창주), Ph.D

CNam.jpg
Senior Research Scientist
Center for Robotics Research
Convergence Research Center for Diagnosis, Treatment and Care System of Dementia
Korea Institute of Science and Technology (KIST)

Email: cjnam AT kist.re.kr
Office: International Cooperation Building L8205
Tel: +82-2-958-5771
Others: CV, Personal website, Google Scholar profile

Open Positions

I am looking for grad students and interns who are interested in logic-based AI planning for robots. Please send me e-mails attaching your CV.

Research Interests

I am interested in the coordination of multiple robots with humans where the team performance is optimized while considering resource, uncertainty, dynamic environments, and human factors.

Education

Professional Experience

Publications

Journal

  1. Changjoo Nam, S. H. Cheong, J. Lee, D. H. Kim, and C. Kim, “Fast and resilient manipulation planning for object retrieval in cluttered and confined environments,” IEEE Transactions on Robotics (T-RO), accepted for publication.
  2. Changjoo Nam, S. Lee, J. Lee, S. H. Cheong, D. H. Kim, C. Kim, I. Kim, and S.-K. Park, “A software architecture for service robots manipulating objects in human environments,” IEEE Access, Jun 2020.
  3. Changjoo Nam and D. A. Shell, "Robots in the Huddle: Upfront Computation to Reduce Global Communication at Run-time in Multi-Robot Task Allocation," IEEE Transactions on Robotics (T-RO), Feb 2020.
  4. Changjoo Nam, P. Walker, H. Li, M. Lewis, and K. Sycara, "Models of Trust in Human Control of Swarms with Varied Levels of Autonomy," IEEE Transactions on Human-Machine Systems (T-HMS), Feb 2019.
  5. K. Lee, S.-H. Ryu, Changjoo Nam and N. L. Doh, "A practical 2D/3D SLAM using directional patterns of an indoor structure," Intelligent Service Robotics (ISR), pp. 1--24, Jan 2018. (Best Paper Award)
  6. Changjoo Nam and D. A. Shell, "Analyzing the sensitivity of the optimal assignment in probabilistic multi-robot task allocation," IEEE Robotics and Automation Letters (RA-L), pp. 193–200, Jan 2017.
  7. Changjoo Nam and D. A. Shell, "Assignment Algorithms for Modeling Resource Contention in Multi-Robot Task Allocation," IEEE Transactions on Automation Science and Engineering (T-ASE), Vol. 12, Issue 3, pp.889–900, Jul 2015.

International conference

  1. Changjoo Nam, J. Lee, S. Cheong, B. Y. Cho, and C. Kim, “Fast and resilient manipulation planning for target retrieval in clutter,” IEEE Int. Conf. on Robotics and Automation (ICRA), May 2020.
  2. S. Cheong, B. Y. Cho, J. Lee, C. Kim, and Changjoo Nam, “Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation,” IEEE Int. Conf. on Robotics and Automation (ICRA), May 2020
  3. K. Kim, J. Lee, C. Kim, and Changjoo Nam, "Retrieving objects from clutter using a mobile robotic manipulator," Int. Conf. on Ubiquitous Robots (UR), Jun 2019.
  4. J. Lee, Y. Cho, Changjoo Nam, J. H. Park, and C. Kim, "Efficient Obstacle Rearrangement for Object Manipulation Tasks in Cluttered Environments," IEEE Int. Conf. on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
  5. W. Luo, Changjoo Nam, G. Kantor, and K. Sycara, “Decentralized Environmental Modeling and Adaptive Sampling for Multi-Robot Sensor Coverage,” Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), Montreal, Canada, May 2019.
  6. R. Liu, F. Jia, W. Luo, M. Chandarana, Changjoo Nam, M. Lewis, and K. Sycara, “Trust-Aware Behavior Reflection for Robot Swarm Self-Healing,” Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), Montreal, Canada, May 2019.
  7. S. Yi, Changjoo Nam, and K. Sycara, “Indoor Pursuit-Evasion with Hybrid Hierarchical Partially Observable Markov Decision Processes for Multi-Robot Systems,” Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Denver, USA, Oct 2018.
  8. Changjoo Nam, H. Li, S. Li, M. Lewis, and K. Sycara, “Trust of Humans in Supervisory Control of Swarm Robots with Varied Levels of Autonomy,” IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC), Miyazaki, Japan, Oct 2018.
  9. J. Bang, H. Li, S. Nagavalli, Changjoo Nam, M. Lewis, and K. Sycara, “Human Interaction Through an Optimal Sequencer to Control Robotic Swarms,” IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC), Miyazaki, Japan, Oct 2018.
  10. W. Luo, Changjoo Nam, K. Sycara, “Online Decision Making for Stream-based Robotic Sampling via Submodular Optimization,” IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI), Daegu, Korea, Nov 2017.
  11. Changjoo Nam, P. Walker, M. Lewis, and K. Sycara, "Predicting Trust in Human Control of Swarms via Inverse Reinforcement Learning," IEEE Int. Symp. on Robot and Human Interactive Communication (RO-MAN), Lisbon, Portugal, Aug 2017.
  12. Changjoo Nam and D. A. Shell, "Bundling policies for sequential stochastic tasks in multi-robot systems," Int. Symp. on Distributed Autonomous Robotic Systems (DARS), London, UK, Nov 2016.
  13. Changjoo Nam and D. A. Shell, "When to do your own thing: Analysis of cost uncertainties in multi-robot task allocation at run-time," IEEE Int. Conf. on Robotics and Automation (ICRA), Seattle, USA, May 2015.
  14. Changjoo Nam and D. A. Shell, "Assignment Algorithms for Modeling Resource Contention and Interference in Multi-Robot Task-Allocation," IEEE Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014.
  15. T. Kang, Changjoo Nam, U. Lee, N. L. Doh, G. Park, "Development of Robotic-Crane based Automatic Construction System for Steel Structures of High-rise Buildings," Int. Symposium on Automation and Robotics in Construction (ISARC), Seoul, Korea, Jun 2011.
  16. S. K. Lee, S. Lee, Changjoo Nam, and N. L. Doh, "Local Path Planning Scheme for Car-like Vehicle's Shortest Turning Motion Using Geometric Analysis," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct 2010.
  17. N. L. Doh, K.Y. Lee and Changjoo Nam, "Novel Line Representation with Consistent Second Order Statistics for SLAM Application," Int. Conf. on Advanced Mechatronics (ICAM), Osaka, Japan, October 4-6, 2010.
  18. Y. H. Lee, J. Jin, Changjoo Nam, J. Kim and N. L. Doh, "Development of Minimal Grasper: Preliminary result of a simple and flexible enveloping grasper," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct 2009.
  19. Y. H. Lee, Changjoo Nam, K. Y. Lee, Y. Li, S. Y. Yeon and N. L. Doh, "VPass: Algorithmic Compass using Vanishing Points in Indoor Environments," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct 2009.

Others

  1. Changjoo Nam, J. Lee, and C. Kim, “Planning for efficient rearrangement of obstacles for grasping objects in cluttered environments,” Full paper, IEEE/RSJ IROS Workshop on Task-informed grasping for rigid and deformable object manipulation, Oct 2018.
  2. G. Kantor, W. Luo, Changjoo Nam, and K. Sycara, "Adaptive Robotic Sampling for High Throughput Phenotyping," Abstract, Annual National Association of Plant Breeders Meeting, Aug 2017.
  3. Changjoo Nam, P. Walker, M. Lewis, and K. Sycara, "Identifying Trust-related Factors in Human Control of Swarms," Extended abstract, ICRA Workshop on Human Multi-Robot System Interaction, Jun 2017.
  4. Changjoo Nam and D. A. Shell, "An Empirical Study of Task Bundling for Sequential Stochastic Tasks in Multi-Robot Task Allocation," Technical Report, TAMU-CSE-16-7-1, Jul 2016.
  5. Changjoo Nam, "Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments," Extended abstract, ICRA Ph.D. Forum, May 2015.
  6. Changjoo Nam and D. A. Shell, "Analyzing Uncertainties in Cost: Mitigating Centralization in Multi-Robot Task Allocation,” Technical Report, TAMU-CSE-15-2-1, Feb 2015.
  7. Changjoo Nam and D. A. Shell, "Modeling Resource Contention and Interference in Multi-Robot Task Allocation," Technical Report, TAMU-CSE-14-1-1, Jan 2014.

Patents

  1. N. L. Doh, Changjoo Nam, B. You, “Method and apparatus for dividing 3D indoor space using virtual walls,” Application No. 10-2018-0098208, Aug 22, 2018.
  2. N. L. Doh, J. Jin, Changjoo Nam, Y. H. Lee, "Robot hand with connection part that undergoes stretching deformation according to object shape and method for controlling robot hand," WO Patent: WO10/053245, May 14, 2010.
  3. D. Hyun, Changjoo Nam, C. Kim, "Navigation System and Method using sensor fusion with IONS and GPS," Patent Registration No. 10-1248528, Mar 22, 2013.
  4. N. L. Doh, J. Jin, Changjoo Nam, Y. H. Lee, "Robot hand having connection part transforming according to shape of object and control method of robot hand," Patent Registration No. 10-1008405, Jan 14, 2011.
  5. N. L. Doh, Changjoo Nam, K. Lee, Y. H. Lee, S. Yuen, A simultaneous localization and map building method of mobile robot using vanishing point, Patent Registration No. 10-1121518, Jan 29, 2012.
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