47 citations · 49 across the 5 of their papers we have counts for
7 papers
Imitation Learning of Avoidance Modes for Efficient Multimodal Model Predictive Control
Changyu Lee, Byung-Kwan Lee, Kanghoon Yoon
Multimodal model predictive control (MM-MPC) avoids local minima among moving obstacles by solving one optimal control problem (OCP) per combination of avoidance sides, so its comp…
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…
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…
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…
Parameter-Varying Koopman Operator for Nonlinear System Modeling and Control
Changyu Lee, Kiyong Park, Jinwhan Kim
This paper proposes a novel approach for modeling and controlling nonlinear systems with varying parameters. The approach introduces the use of a parameter-varying Koopman operator…
Nonlinear Model Predictive Control with Obstacle Avoidance Constraints for Autonomous Navigation in a Canal Environment
Changyu Lee, Dongha Chung, Jonghwi Kim +1
In this paper, we describe the development process of autonomous navigation capabilities of a small cruise boat operating in a canal environment and present the results of a field…
Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters
Dongha Chung, Jonghwi Kim, Changyu Lee +1
This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environmen…