Changyu Lee

Ph.D Student @KAIST ME

18 분 소요

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International

Journal (In preparation)

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[J15] MARQA: Bridging Human and Autonomous Ship Operations Through Large Language Model-Based Navigational Reasoning
Yeongha Shin, Changyu Lee, Jinwhan Kim*
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[J14] Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function
Changyu Lee, Jinwook Park, Jinwhan Kim*

Journal (Under review)

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[J13] Hand Position-based $\mathcal{L}_1$-Model Predictive Control for Robust Trajectory Tracking of Underactuated Surface Vehicles
Kiyong Park, Changyu Lee, Jinwhan Kim*
Paper  
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[J12] Safety-Enhanced Control Strategy for Surface Ships Berthing Using Backward and Forward Reachability Analysis
Jinwook Park, Changyu Lee, Jinwhan Kim*
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[J11] Dynamic Tube-based MPC with $\mathcal{L}_1$ Adaptation for Improved Uncertainty Compensation
Changyu Lee, Kiyong Park, Jinwhan Kim*
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[J10] Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
Changyu Lee, Kiyong Park, Jinwhan Kim*

Journal (Published)

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[J9] Safety-Guaranteed Ship Berthing using Cascade Tube-based Model Predictive Control

IEEE Transactions on Control Systems Technology (TCST), 32(4), 1504-1511, 2024.07

Changyu Lee, Quoc Van Tran, Jinwhan Kim*
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[J8] Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment

IEEE/ASME Transactions on Mechatronics (TMECH), 29(3), 1985-1996, 2024.06

Changyu Lee, Dongha Chung, Jonghwi Kim, Jinwhan Kim*
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[J7] Field experiment of autonomous ship navigation in canal and surrounding nearshore environments

Journal of Field Robotics (JFR), 41(2), 470-489, 2023.11

Jonghwi Kim, Changyu Lee, Dongha Chung, Yonghoon Cho, Jinwhan Kim*, Wangseok Jang, Saeyong Park
Editor's Choice at Science Robotics
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[J6] Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

International Journal of Robotics Research (IJRR), 42(12), 1104-1114, 2023.08

Dongha Chung, Jonghwi Kim, Changyu Lee, Jinwhan Kim*
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[J5] Navigable Area Detection and Perception-guided Model Predictive Control for Autonomous Navigation in Narrow Waterways

IEEE Robotics and Automation Letters (RA-L), 8(9), 5456-5463, 2023.09
(Presented at IEEE ICRA 2024)

Jonghwi Kim$^\dagger$, Changyu Lee$^\dagger$, Dongha Chung, Jinwhan Kim*
($^\dagger$: equally contributed)
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[J4] A learning-based approach to surface vehicle dynamics modeling for robust multistep prediction

Autonomous Robots, 47(6), 797-808, 2023.06

Junwoo Jang, Changyu Lee, Jinwhan Kim*
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[J3] Model Predictive Anti-spin Thruster Control for Efficient Ship Propulsion in Irregular Waves

Control Engineering Practice, 136, 105533, 2023.07

Changyu Lee, Jinwhan Kim*
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[J2] Robust Bearing-based Formation Tracking Control of Underactuated Surface Vessels: An Output Regulation Approach

IEEE Transactions on Control of Network Systems, 10(4), 2048-2059, 2023.12

Quoc Van Tran*, Changyu Lee, Jinwhan Kim, Hoang Quang Nguyen
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[J1] Ambiguity Resolution Between Constant Velocity and Coordinated Turn Models for Multimodel Target Tracking

IEEE Sensors Letters, 6(5), 1-4, 2022.05

Junwoo Jang, Changyu Lee, Jinwhan Kim*

Conference

[C7] Robust Trajectory Tracking for Surface Vehicles via L1-Augmented Model Predictive Control

Oceans, 2025

Kiyong Park, Changyu Lee, Jinwhan Kim*

[C6] Parameter-Varying Koopman Operator for Nonlinear System Modeling and Control

62nd IEEE Conference on Decision and Control (CDC), pp. 3700-3705, 2023.12.13-15

Changyu Lee, Kiyong Park, Jinwhan Kim*

[C5] Robust Ship Berthing Control with Wind Disturbance Compensation using Reachability Analysis

22nd IFAC World Congress, 56(2), 4358-4363, 2023.07.09-14

Jinwook Park, Changyu Lee, Jinwhan Kim*

[C4] Robust Path Tracking and Obstacle Avoidance of Autonomous Ship using Stochastic Model Predictive Control

20th International Conference on Ubiquitous Robots (UR), pp. 179-182, 2023.06.25-28

Kiyong Park, Changyu Lee, Jinwhan Kim*

[C3] 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), 55(31), 301-306, 2022.09.14-16

Changyu Lee, Quoc Van Tran, Jinwhan Kim*

[C2] 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), 54(16), 364-369, 2021.09.22-24

Changyu Lee, Jinwhan Kim*

[C1] Nonlinear Model Predictive Control of an Autonomous Underwater Vehicle for Terrain Profile Tracking

16th International Conference on Ubiquitous Robots (UR), pp. 771-774, 2019.06.24-27

Changyu Lee, Jinwhan Kim*

Domestic

Journal

이찬규, 김진환*, “Trajectory Optimization for Autonomous Berthing of a Twin-Propeller Twin-Rudder Ship”, Journal of Ocean Engineering and Technology (한국해양공학회지), 37(3), 122-128, 2023.06.30

이찬규, 김경서, 김진환*, “2023 MBZIRC Maritime Grand Challenge 대회 소개”, 로봇과 인간, 19(2), 32-37, 2022.04

이찬규, 장준우, 김진환*, “Stochastic model predictive control for motion control of an underactuated underwater vehicle”, Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회지), 26(5), 373-378, 2020.05

Conference

김응현, 이찬규, 김진환*, “혼잡한 보행자 공간에서 운용되는 모바일 로봇 자율주행을 위한 경로계획”, 한국로봇학회 한국로봇종합학술대회, 2024 ${\color{red}{\text{ (Most Outstanding Paper Award)}}}$

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

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

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

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

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

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

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

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

이찬규, 김진환*, “쌍축 쌍타 선박의 자동접안을 위한 모델예측제어”, 한국해양과학기술협의회 공동학술대회, 2020.07. ${\color{red}{\text{ (Outstanding Student Paper Presentation Award)}}}$

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

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

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About

3 분 소요

Hello! I’m a Postdoctoral Researcher in the Department of Mechanical Engineering at Korea Advanced Institute of Science and Technology (KAIST), advised by Pr...