Publications

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Ongoing works

• LLM-based Ship Collision Avoidance
• Koopman Operator-based Robust Ship Heading Control
• Trajectory Optimization & TRN of UUV
• Adaptive Tube-based MPC for Quadrotors
• Launch and Recovery Trajectory Planning and Control

International

Journal (Under review)

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[J11] Safety-Enhanced Berthing Control of Surface Ships Under Environmental Disturbance Zonotope Basd Reachability Analysis
Jinwook Park, Changyu Lee, 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*

Paper   Video

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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), 2024

Changyu Lee, Quoc Van Tran, Jinwhan Kim*

Paper

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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), 2024

Changyu Lee, Dongha Chung, Jonghwi Kim, Jinwhan Kim*

Paper   Video

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[J7] Field experiment of autonomous ship navigation in canal and surrounding nearshore environments

Journal of Field Robotics (JFR), 2023

Jonghwi Kim, Changyu Lee, Dongha Chung, Yonghoon Cho, Jinwhan Kim*, Wangseok Jang, Saeyong Park
Editor's Choice at Science Robotics

Paper

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[J6] Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

International Journal of Robotics Research (IJRR), 2023

Dongha Chung, Jonghwi Kim, Changyu Lee, Jinwhan Kim*

Paper   Video

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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), 2023
(Presented at IEEE ICRA 2024)

Jonghwi Kim$^\dagger$, Changyu Lee$^\dagger$, Dongha Chung, Jinwhan Kim*
($^\dagger$: equally contributed)

Paper   Video

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[J4] A learning-based approach to surface vehicle dynamics modeling for robust multistep prediction

Autonomous Robots, 2023

Junwoo Jang, Changyu Lee, Jinwhan Kim*

Paper

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[J3] Model Predictive Anti-spin Thruster Control for Efficient Ship Propulsion in Irregular Waves

Control Engineering Practice, 2023

Changyu Lee, Jinwhan Kim*

Paper

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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, 2023

Quoc Van Tran*, Changyu Lee, Jinwhan Kim, Hoang Quang Nguyen

Paper

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[J1] Ambiguity Resolution Between Constant Velocity and Coordinated Turn Models for Multimodel Target Tracking

IEEE Sensors Letters, 2022

Junwoo Jang, Changyu Lee, Jinwhan Kim*

Paper

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Conference

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

62nd IEEE Conference on Decision and Control (CDC), 2023

Changyu Lee, Kiyong Park, Jinwhan Kim*

Paper

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

22nd IFAC World Congress, 2023

Jinwook Park, Changyu Lee, Jinwhan Kim*

Paper

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

20th International Conference on Ubiquitous Robots (UR), 2023

Kiyong Park, Changyu Lee, Jinwhan Kim*

Paper

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[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), 2022

Changyu Lee, Quoc Van Tran, Jinwhan Kim*

Paper

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[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), 2021

Changyu Lee, Jinwhan Kim*

Paper

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

16th International Conference on Ubiquitous Robots (UR), 2019

Changyu Lee, Jinwhan Kim*

Paper

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Domestic

Journal

이찬규, 김진환*, “Trajectory Optimization for Autonomous Berthing of a Twin-Propeller Twin-Rudder Ship”, Journal of Ocean Engineering and Technology (한국해양공학회지), 2023

이찬규, 김경서, 김진환*, “2023 MBZIRC Maritime Grand Challenge 대회 소개”, 로봇과 인간, 2022

이찬규, 장준우, 김진환*, “Stochastic model predictive control for motion control of an underactuated underwater vehicle”, Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회지), 2020

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.