3 papers
cs.RO2026
Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions
Changyu Lee
This paper presents a guide path-free multimodal trajectory planning framework for autonomous surface vehicles operating in dynamic environments. The proposed method integrates mod…
cs.RO2025
Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function
Changyu Lee, Jinwook Park, Jinwhan Kim
This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations…
cs.RO2025
Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
Changyu Lee, Kiyong Park, Jinwhan Kim
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the…