[22] Changyu Lee*, "Toroidal Control Barrier Functions for Efficient Autonomous Navigation of Underwater Vehicles", In Prep.

• [20] Changyu Lee*, "Reducing Conservatism in Robust Quadrotor Trajectory Planning via Cascade Tube-based Model Predictive Control ", Under Review. 

• [19] Changyu Lee*, "Multi-Modal Trajectory Planning using Turning Circle-Based Control Barrier Functions: A Guide-Path-Free MPC Framework", Under Review.  

• [18] Kiyong Park, Changyu Lee, Jinwhan Kim*, "Model Predictive Control with Actuation Dead-Time Compensation for Trajectory Tracking of Autonomous Surface Vessels", Under Review.  

• [17] Kiyong Park, Changyu Lee, Jinwhan Kim*, "Hand Position-based L1-Model Predictive Control for Robust Trajectory Tracking of Underactuated Surface Vehicles", Under Review 

• [16] Changyu Lee, Kiyong Park, Jinwhan Kim*, "Dynamic Tube-based MPC with L1 Adaptation for Improved Uncertainty Compensation", Under Review

• [15] Jinwook Park, Changyu Lee, Jinwhan Kim*, "Robust Collision Avoidance for Autonomous Ships with Enhanced COLREGs Compliance Using Hamilton-Jacobi Reachability", Under Review

• [14] Jinwook Park, Changyu Lee, Jinwhan Kim*, "Safety-Enhanced Control Strategy for Surface Ships Berthing Using Backward and Forward Reachability Analysis", Under Revision 

• [13] Yeongha Shin, Changyu Lee, Jinwhan Kim*, "MARQA: LLM-Based Question Answering for Negotiation-Capable Autonomous Ship Navigation", Under Revision 

• [12] Changyu Lee*, "Safe Waypoint Tracking and Obstacle Avoidance for Surface Vehicles using Tube-based MPC ", Under Revision.  

• [11] Changyu Lee, Kiyong Park, Jinwhan Kim*, "Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles", Under Revision 

• [10] Changyu Lee, Jinwook Park, Jinwhan Kim*, "Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function", Accepted,  Mechatronics (IFAC), 2026, (Will be presented at IFAC WC 2026)

• [9] Changyu Lee, Quoc Van Tran, Jinwhan Kim*, "Safety-Guaranteed Ship Berthing using Cascade Tube-based Model Predictive Control", IEEE Transactions on Control Systems Technology (TCST), July 2024

• [8] Changyu Lee, Dongha Chung, Jonghwi Kim, Jinwhan Kim*, "Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment", IEEE/ASME Transactions on Mechatronics (TMECH), June 2024 

• [7] Quoc Van Tran*, Changyu Lee, Jinwhan Kim, Hoang Quang Nguyen, "Robust Bearing-based Formation Tracking Control of Underactuated Surface Vessels: An Output Regulation Approach", IEEE Transactions on Control of Network Systems (TCNS), Dec 2023

• [6] Jonghwi Kim, Changyu Lee, Dongha Chung, Yonghoon Cho, Jinwhan Kim*, Wangseok Jang, Saeyong Park, "Field experiment of autonomous ship navigation in canal and surrounding nearshore environments", Journal of Field Robotics (JFR), Nov 2023 (Editor's Choice at Science Robotics)

• [5] Dongha Chung, Jonghwi Kim, Changyu Lee, Jinwhan Kim*, "Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters", International Journal of Robotics Research (IJRR), Oct 2023

• [4] Jonghwi Kim**, Changyu Lee**, Dongha Chung, Jinwhan Kim*, "Navigable Area Detection and Perception-guided Model Predictive Control for Autonomous Navigation in Narrow Waterways", IEEE Robotics and Automation Letters (RA-L), Sep 2023 (Presented at IEEE ICRA 2024) (**: equally contributed)

• [3] Changyu Lee, Jinwhan Kim*, "Model Predictive Anti-spin Thruster Control for Efficient Ship Propulsion in Irregular Waves", Control Engineering Practice (CEP), July 2023

• [2] Junwoo Jang, Changyu Lee, Jinwhan Kim*, "A learning-based approach to surface vehicle dynamics modeling for robust multistep prediction", Autonomous Robots (AURO), June 2023

• [1] Junwoo Jang, Changyu Lee, Jinwhan Kim*, "Ambiguity Resolution Between Constant Velocity and Coordinated Turn Models for Multimodel Target Tracking", IEEE Sensors Letters, May 2022

• [C7] Kiyong Park, Changyu Lee, Jinwhan Kim*, "Robust Trajectory Tracking for Surface Vehicles via L1-Augmented Model Predictive Control", Oceans, 2025

• [C6] Changyu Lee, Kiyong Park, Jinwhan Kim*, "Parameter-Varying Koopman Operator for Nonlinear System Modeling and Control", 62nd IEEE Conference on Decision and Control (CDC), Dec 2023

• [C5] Jinwook Park, Changyu Lee, Jinwhan Kim*, "Robust Ship Berthing Control with Wind Disturbance Compensation using Reachability Analysis", 22nd IFAC World Congress, July 2023

• [C4] Kiyong Park, Changyu Lee, Jinwhan Kim*, "Robust Path Tracking and Obstacle Avoidance of Autonomous Ship using Stochastic Model Predictive Control", 20th International Conference on Ubiquitous Robots (UR), 2023

• [C3] Changyu Lee, Quoc Van Tran, Jinwhan Kim*, "Robust Path Tracking and Obstacle Avoidance Using Tube-Based Model Predictive Control for Surface Vehicles", 14th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), Sep 2022

• [C2] Changyu Lee, Jinwhan Kim*, "Energy Efficient Control for Electric Ship Propulsion Considering Thrust Fluctuation in Regular Waves", 13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), Sep 2021

• [C1] Changyu Lee, Jinwhan Kim*, "Nonlinear Model Predictive Control of an Autonomous Underwater Vehicle for Terrain Profile Tracking", 16th International Conference on Ubiquitous Robots (UR), June 2019

• [D4] Jinwook Park, Changyu Lee, Jinyong Choi, Jinwhan Kim*, "A Ship Collision Avoidance Algorithm Using Control Barrier Functions Based on Velocity Obstacles with Consideration of COLREGs", Journal of Institute of Control, Robotics and Systems (제어.로봇.시스템학회 논문지), 2025

• [D3] Changyu Lee, Jinwhan Kim*, “Trajectory Optimization for Autonomous Berthing of a Twin-Propeller Twin-Rudder Ship”, Journal of Ocean Engineering and Technology (한국해양공학회지), June 2023

• [D2] Changyu Lee, Kyungseo Kim, Jinwhan Kim*, “2023 MBZIRC Maritime Grand Challenge 대회 소개”, 로봇과 인간, April 2022

• [D1] Changyu Lee, Junwoo Jang, Jinwhan Kim*, “Stochastic model predictive control for motion control of an underactuated underwater vehicle”, Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회지), May 2020

• [12] 김응현, 이찬규, 김진환*, “혼잡한 보행자 공간에서 운용되는 모바일 로봇 자율주행을 위한 경로계획”, 한국로봇학회 한국로봇종합학술대회, 2024 (Most Outstanding Paper Award)

• [11] 정동하, 김종휘, 이찬규, 김진환*, “자율운항 연구를 위한 다중 센서 데이터 소개”, 한국해양공학회, 2023

• [10] 김종휘, 정동하, 이찬규, 김진환*, “가항영역 탐지를 통한 운하 환경에서의 자율 경로 생성”, 대한조선학회, 2023

• [9] 박기용, 이찬규, 김진환*, “비선형 모델 예측 제어 기법을 이용한 두 개의 전방향 추진기를 갖는 선박의 자동 접안”, 한국로봇학회 한국로봇종합학술대회, 2023. 02.

• [8] 이찬규, 김진환*, “선박을 위한 강인한 모델예측제어기반 경로 추종 및 장애물 회피”, 제어로봇시스템학회, 2022. 06.

• [7] 이찬규, 김진환*, “불규칙파 중 전기추진선박의 에너지 효율 향상을 위한 모델예측제어”, 한국해양과학기술협의회 공동학술대회, 2022.06.

• [6] 이찬규, 정동하, 김종휘, 조용훈, 김진환*, 최휘용, 이준식, “포항 운하에서의 자율 운항 실험을 위한 최적 경로 추종”, 대한조선학회 추계학술대회, 2021.11.

• [5] 김종휘, 정동하, 이찬규, 조용훈, 김진환*, 장왕석, 박세용, “포항 운하에서의 자율 운항 실험을 위한 다중 센서 융합”, 한국해양공학회 추계학술대회, 2021.10.

• [4] 이찬규, 김진환*, “파랑 중 전기추진선박의 에너지 효율 향상을 위한 모델예측제어”, 한국해양과학기술협의회 공동학술대회, 2021.05.

• [3] 이찬규, 김진환*, “쌍축 쌍타 선박의 자동접안을 위한 모델예측제어”, 한국해양과학기술협의회 공동학술대회, 2020.07 (Outstanding Student Paper Presentation Award)

• [2] 장준우, 이찬규, 김진환*, “표적 운동 추정 과정에서의 다중모델 기반 필터의 모호성 해결”, 제어로봇시스템학회, 2019. 05.

• [1] 김종휘, 김근환, 이찬규, 김진환*, 이필엽, “단안 카메라 영상을 이용한 합성곱 신경망 기반 선박 탐지 및 추적”, 한국해양공학회 추계학술대회, 2018.11.