Safe Trajectory Planning & Control
Safe Trajectory Planning & Control
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Multi-modal Obstacle Avoidance Trajectory Planning & Control
Multi-modal Obstacle Avoidance Trajectory Planning & Control
Supplementary Video (Multi-Modal Trajectory Planning using Turning Circle-based CBFs: A Guide-Path-Free MPC Framework)
Supplementary Video (Multi-Modal Trajectory Planning using Turning Circle-based CBFs: A Guide-Path-Free MPC Framework)
Learning-based Planning & Control
Learning-based Planning & Control
Representative publications:
Representative publications:
Yeongha Shin, Changyu Lee, Jinwhan Kim*, "MARQA: LLM-Based Question Answering for Negotiation-Capable Autonomous Ship Navigation", Under Review, 2025
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)
Junwoo Jang, Changyu Lee, Jinwhan Kim*, "A learning-based approach to surface vehicle dynamics modeling for robust multistep prediction", Autonomous Robots (AURO), June 2023
Robust Model Predictive Control
Robust Model Predictive Control
Robust Tube-based MPC
Robust Tube-based MPC
Safety-guaranteed Ship Docking
Robust Tube-based MPC
Robust Tube-based MPC
Drone Control
Koopman Operator
Koopman Operator
Data-driven Modeling and Control
Representative publications:
Representative publications:
Changyu Lee, Kiyong Park, Jinwhan Kim*, "Dynamic Tube-based MPC with L1 Adaptation for Improved Uncertainty Compensation", Under Review
Kiyong Park, Changyu Lee, Jinwhan Kim*, "Hand Position-based L1-Model Predictive Control for Robust Trajectory Tracking of Underactuated Surface Vehicles", Under Review
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
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
Control Barrier Function (CBF)
Control Barrier Function (CBF)
Turning Circle-based CBF for nonholonomic vehicles
Turning Circle-based CBF for nonholonomic vehicles
CBF-based COLREGs-compliant collision avoidance
CBF-based COLREGs-compliant collision avoidance
Representative publications:
Representative publications:
Changyu Lee, Kiyong Park, Jinwhan Kim*, "Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles", Under Review
Changyu Lee, Jinwook Park, Jinwhan Kim*, "Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function", Mechatronics (IFAC MECH), 2026 (Presented at IFAC World Congress 2026)
Applications
Mobile Robots
Mobile Robots
Autonomous Ground Vehicle (AGV)
Autonomous Ground Vehicle (AGV)
Dynamic Obstacle Avoidance
Representative publications:
Representative publications:
김응현, 이찬규, 김진환*, “혼잡한 보행자 공간에서 운용되는 모바일 로봇 자율주행을 위한 경로계획”, 한국로봇학회 한국로봇종합학술대회, 2024 (Most Outstanding Paper Award)
Marine vehicles
Marine vehicles
Autonomous Surface Vehicle (ASV)
Autonomous Surface Vehicle (ASV)
Collision Avoidance
Representative publications:
Representative publications:
Changyu Lee, Kiyong Park, Jinwhan Kim*, "Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles", Under Review
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
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)
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
Multi-agent control
Multi-agent control
Robust Formation Tracking Control
Robust Formation Tracking Control
Formation Control of Autonomous Vehicles
Co-work: Dr. Quoc Van Tran (HUST, Hanoi)
Representative publications:
Representative publications:
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
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