IEEE Robotics & Automation Magazine - December 2018 - 85

manipulators in new environments in real time. Additionally,
the tradeoff between motion optimality and computational
time was effectively balanced with our RRT*-PDMPs. The
superiority of our approach was evaluated by the cooperative
operation of two multirotor-based aerial manipulators, which
safely avoided new obstacles in a previously unknown environment while minimizing energy-related costs.
Acknowledgments
This research was supported by the Technology Innovation
Program (10067206) and funded by the Ministry of Trade,
Industry, and Energy (Korea), the Ministry of Science (Korea)
under the Information Technology Research Center support
program [Institute for Information and Communications
Technology Promotion (IITP)-2018-2017-0-01637] and
supervised by the IITP.
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Hyoin Kim, Department of Mechanical and Aerospace Engineering, Seoul National University, South Korea. E-mail:
rlagydls@gmail.com. Hyoin Kim and Hoseong Seo contributed equally to this article.
Hoseong Seo, Department of Mechanical and Aerospace Engineering and Automation and Systems Research Institute,
Seoul National University, South Korea. E-mail: hosung9009@
gmail.com. Hyoin Kim and Hoseong Seo contributed equally
to this article.
Clark Youngdong Son, Department of Mechanical and Aerospace Engineering, Seoul National University, South Korea.
E-mail: clark.y.d.son@gmail.com.
Hyeonbeom Lee, Department of Electronics Engineering,
Kyungpook National University, Daegu, South Korea. E-mail:
h.beom.lee@gmail.com.
Suseong Kim, Department of Informatics, University of
Zurich, Switzerland. E-mail: suseong@i.uzh.ch.
H. Jin Kim, Department of Mechanical and Aerospace Engineering and Institute of Engineering Research, Seoul National
University, South Korea. E-mail: hjinkim@snu.ac.kr.

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