Path planning is necessary for mobile robots to perform precise and rapid tasks. A collision avoidance function must be included so that the robot can move safely during work, and it must be able to create an optimal path to reduce work execution time and save energy. In this paper, we propose a smart route generation algorithm that searches for global route with an algorithm that can speed up route search and integrates the TEB algorithm that can search for regional optimum routes in real time according to the situation. The performance of the proposed algorithm was verified through actual driving experiments of mobile robots.

In this study, we present an algorithm for indoor robot position estimation. Estimating the position of an indoor robot using a fixed imaging device obviates the need for complex sensors or hardware, enabling easy estimation of absolute position through marker recognition. However, location estimation becomes impossible when the device moves away from the surrounding obstacles or the screen, presenting a significant drawback. To solve this problem, we propose an algorithm that improves the precision of robot indoor location estimation using a Gaussian Mixture Model(GMM) and a Kalman filter estimation model. We conducted an actual robot operation experiment and confirmed accurate position estimation, even when the robot was out of the image.

온라인게임 마케팅의 가격정책은 정액선불제와 PC방의 종량제가 대표적이다. 이 두 모델은 대부분의 온라인게임기업 및 MMORPG의 기본 과금방식으로 인식되어 왔으나 점차 선두기업만의 수익구조로 정착되고 있다. 선두기업들의 시장 점유율이 80%를 넘어선 상황에서 후발기업들이 동일한 과금방식을 적용할 경우 경쟁은 불가능해진다. 시험평가에서 호평을 받은 후발 MMORPG 들이 상용화의 벽을 넘지 못하고 도산하고 있는 예가 이를 증명해준다. 후발업체들은 생존과 고객확보차원에서 먼저 무료게임을 선언하고, 이후 아이템의 판매와 경험치, 게임 머니의 배수 서비스로 유도하기도 한다. 그러나 유무료 고객 간의 분쟁을 낳고, 정액제를 기반으로 제작한 게임 콘텐츠의 밸런스가 붕괴되어 게임의 생명을 단축하는 결과로 이어지고 있다. 후발업체의 안정된 수익과 시장진입을 위해서는 기획 단계부터 콘텐츠에 맞는 과금 방식을 설계해야 하며 또 선두업체들과는 차별화된 과금방식을 확보해야한다. 본 연구에서는 단순 아이템 판매와 배수 서비스가 아닌 게임 콘텐츠를 기반으로 하는 다양한 콘텐츠 서비스를 분류하였다. 그리고 이들 콘텐츠를 저가로 책정함으로써 이용고객들의 소액결재를 유도하는 콘텐츠 프리미엄 서비스를 제안하였다. 이는 현재 게임 시장에서 후발 MMORPG 게임 업체의 새로운 과금방식으로 적용될 수 있을 것으로 기대된다.

The deployment of multicast communication services in the Internet is expected to lead a stable packet transfer even in heavy traffic as in On-Line Game environment. The Core Based Tree scheme among many multicast protocols is the most popular and suggested recently. However, CBT exhibit two major deficiencies such as traffic concentration or poor core placement problem. So, measuring the bottleneck link bandwidth along a path is important for understanding the performance of multicast. We propose not only a definition of CBT's core link state that Steady-State(SS), Normal-State(NS) and Bottleneck State(BS) according to the estimation link speed rate, but also the changeover of multicast routing scheme for traffic overload. In addition, we introduce anycast routing tree, a efficient architecture for construct shard multicast trees.

Multicast protocols are efficient methods of group communication such as video conference, Internet broadcasting and On-Line Game, but they do not support the various transmission protocol services like a reliability guarantee, FTP, or Telnet that TCPs do. The Purpose or this Paper is to find a method to utilize multicast routers can simultaneously transport multicast packets and TCP packets. For multicast network scalability and error recovery the existing SRM(Scalable Reliable Multicast)method has been used. Three packets per TCP transmission control window site are used for transport and an ACK is used for flow control. A CBR(Constant Bit Rate) and a SRM is used for UDP traffic control. Divided on whether a UDP multicast packet and TCP unicast packet is used simultaneously or only a UDP multicast packet transport is used, the multicast receiver with the longest delay is measured on the number of packets and its data receiving rate. It can be seen that the UDP packet and the TCP's IP packet can be simultaneously used in a server router.