국립공주대학교

SAIL

Safe Autonomy & Intelligence Laboratory

안전 자율·지능연구실

News

전체 보기

Research Overview

전체 보기
01

Safe Control

  • Control barrier functions
  • Reachability analysis
  • Safety-critical planning
02

Predictive Control

  • Model predictive control
  • Tube-based robust MPC
  • MPPI / sampling-based planning
  • Data-driven modeling
03

Mobile Autonomy

  • Autonomous ships & USVs
  • Mobile robots
  • Field experiments

Lab Overview

SAIL(안전 자율·지능연구실)은 이동로봇·모바일로봇 등 자율이동체가 안전을 보장하면서 복잡한 환경에서 움직이도록 만드는 제어·계획 알고리즘을 연구합니다. 이론적으로 안전성을 증명할 수 있는 제어기와, 실제 로봇에서 동작하는 시스템을 함께 만듭니다.

핵심 도구는 모델예측제어(MPC), 제어 장벽 함수(CBF), 도달가능성 해석(Reachability Analysis), 그리고 학습·데이터 기반 모델링입니다. 실내·실외 환경에서의 자율주행, 충돌회피, 로봇 제어까지 실험을 통해 검증합니다.

SAIL에서 무엇을 하나요?

  • 안전 궤적 계획 및 제어 알고리즘 설계
  • MPC / CBF / Reachability 기반 충돌회피
  • 학습 기반 동역학 모델링 및 제어
  • 필드 실험 및 국제 학술 발표

이런 학생을 찾습니다

  • 제어·로봇·자율주행에 관심이 있는 학부생·대학원생
  • 수학/동역학 기초를 실제 시스템에 적용하고 싶은 학생
  • 프로그래밍(Python, C++, MATLAB)으로 실험해보고 싶은 학생

참여하면

  • 개인 연구 기자재(PC, 모바일로봇 등) 제공
  • AI 구독료 지원
  • 등록금 & 생활비 지원
  • 국가, 기업 연구과제 참여
  • 국내외 학회 참여 지원
  • 국내외 저널 논문 인센티브 지급

News

2026. 09.

한국해양공학회 KSOE 2026

"선회권 기반 제어장벽함수를 이용한 선박 충돌회피를 위한 다중모드 궤적 최적화"가 한국해양공학회 KSOE 학술대회에 발표됩니다.

2026. 09.

ICCAS 2026 ICCAS

"Model Predictive Control with Heterogeneous Actuation Dead-Time Compensation for Trajectory Tracking of Autonomous Surface Vessels" and "Multimodal Trajectory Planning Using Turning Circle-Based Control Barrier Functions" have been accepted for the International Conference on Control, Automation and Systems ICCAS 2026.

2026. 09.

OCEANS 2026 Monterey OCEANS

"Robust Trajectory Tracking for Unmanned Surface Vehicles Via Disturbance Observer-Based MPC" has been accepted for IEEE/MTS OCEANS OCEANS 2026.

2026. 09.

New undergraduate researcher

Minji Woo (우민지) has joined SAIL as an undergraduate researcher.

2026. 05.

Paper accepted in International Journal of Control, Automation and Systems IJCAS

"Safety-Enhanced Control Strategy for Surface Ships Berthing Using Backward and Forward Reachability Analysis" has been accepted in the International Journal of Control, Automation and Systems IJCAS.

2026. 05.

Paper accepted in IEEE Transactions on Control Systems Technology TCST

"Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles" has been accepted in IEEE Transactions on Control Systems Technology TCST.

2026. 04.

IFAC World Congress IFAC WC 2026

"Control Barrier Function-Based Bearing-Only Formation Tracking of Mobile Agents with Obstacle Avoidance" has been accepted for IFAC World Congress IFAC WC 2026.

2026. 03.

New NRF project

NRF-funded project "Development of a Reachability Analysis-based MPPI Algorithm for Multimodal Safe Trajectory Planning and Control" (2026–2029).

2026. 03.

Paper accepted in Mechatronics MECH

"Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function" has been accepted in Mechatronics MECH and will be presented at IFAC World Congress IFAC WC 2026.

2026. 03.

New undergraduate researcher

Jaemin Im (임재민) has joined SAIL as an undergraduate researcher.

2026. 01.

New undergraduate researcher

Jaemin Yu (유재민) has joined SAIL as an undergraduate researcher.

2025. 10.

Domestic journal paper

"A Ship Collision Avoidance Algorithm Using Control Barrier Functions Based on Velocity Obstacles with Consideration of COLREGs" has been accepted in the Journal of Institute of Control, Robotics and Systems JICROS.

2025. 09.

SAIL established

Prof. Lee starts the Safe Autonomy & Intelligence Lab at Kongju National University.

Research

Algorithm

Multi-modal Obstacle Avoidance Trajectory Planning & Control

비홀로노믹 이동체의 회전반경을 제약으로 두고, 하나의 궤적 대신 추종·회피·접안 등 여러 거동 후보를 만듭니다. 회전원 기반 제어장벽함수로 각 모드의 안전을 판정한 뒤, 그 가운데 안전한 모드를 고르는 멀티모달 계획을 연구합니다.

View Details
Monte Carlo seed 618 — Teacher · SideNet-MPC · Bearing, 2 cand.
Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based CBF
Multimodal Trajectory Planning — Unicycle

Representative publications

Algorithm

Learning-based Planning & Control

학습으로 선박 동역학을 맞추고, 비선형 MPC의 제어 정책을 imitation learning으로 모사합니다. 인지된 가항 영역을 따라가는 perception-guided MPC와 LLM 기반 선박 질의응답(MARQA)으로 계획·제어를 연결합니다.

View Details
Monte Carlo seed 618 — Teacher · SideNet-MPC · Bearing, 2 cand.
Navigable Area Detection and Perception-guided MPC for Autonomous Navigation in Narrow Waterways
MARQA field experiment

Collaborators

Byung-Kwan Lee이병관
NVIDIA · Research Scientist
Kanghoon Yoon윤강훈
Huawei Research · Senior AI Engineer

Representative publications

Algorithm

Robust Model Predictive Control

외란과 모델 오차를 튜브로 묶어, cascade tube-MPC와 L1 적응으로 안전 영역을 지킵니다. 선박 접안·USV 회수·쿼드롭터 궤적에 적용하고, Koopman 연산자로 비선형 동역학을 데이터로부터 모델링합니다.

View Details
Safe USV Recovery — simulation
Safe USV Recovery — pool experiment
Safety-Guaranteed Ship Berthing using Cascade Tube-based MPC
Tube-based MPC for Quadrotor
Parameter-varying Koopman operator
Parameter-Varying Koopman Operator for Nonlinear System Modeling and Control

Representative publications

Algorithm

Control Barrier Function (CBF)

좌·우 회전원으로 선회 능력과 회피 방향을 함께 제약에 넣고, QP로 실시간 풉니다. 좁은 슬립 접안을 위한 exact-geometry MPC-CBF와, COLREGs를 지키는 다선 충돌회피로 확장합니다.

View Details
Exact-Geometry MPC-CBF for Autonomous Boat Docking in Narrow Slips — Scenario 1
Exact-Geometry MPC-CBF for Autonomous Boat Docking in Narrow Slips — Scenario 5
Turning Circle-based CBF for Efficient Collision Avoidance of Nonholonomic Vehicles
CBF-based COLREGs-Compliant Collision Avoidance — Multi Vessels
CBF-based COLREGs-Compliant Collision Avoidance

Representative publications

Projects

Current

한국연구재단 신진연구

멀티모달 안전 궤적 계획 및 제어를 위한 도달 가능성 분석 기반 MPPI 알고리즘 개발 (2026–2029)

참여자 보기
Changyu Lee
Changyu Lee이찬규
PI
Jaemin Im임재민
Undergraduate
Jaemin Yu유재민
Undergraduate
Minji Woo우민지
Undergraduate
Current

국립공주대학교 신임교수정착연구비

모델예측제어를 통한 강건한 무인이동체 제어 알고리즘 개발 (2026–2027)

참여자 보기
Changyu Lee
Changyu Lee이찬규
PI
Current

삼성중공업 산학연구

참여자 보기
Changyu Lee
Changyu Lee이찬규
PI
Jaemin Yu유재민
Undergraduate
  • 이 논문은 2026년 국립공주대학교 글로컬대학30사업의 지원을 받아 수행되었음.
    This work was supported by the Glocal University 30 Project of Kongju National University in 2026.
  • 이 논문은 2026년 국립공주대학교 학술연구지원사업의 연구지원에 의하여 연구되었음.
    This work was supported by the research grant of Kongju National University in 2026.
  • 이 성과는 정부(과학기술정보통신부)의 재원으로 한국연구재단의 지원을 받아 수행된 연구임 (RS-2026-25490010).
    This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. RS-2026-25490010).

Robots

LIMO

실내·보행자 환경용 모바일 로봇. 동적 장애물 회피 실험 플랫폼.

LIMO
LIMO driving
← Members

Changyu Lee 이찬규

Changyu Lee

Changyu Lee

Assistant Professor

이찬규

Department of Mechanical & Automotive Engineering
Kongju National University

Career

2025. 09. – Present

Assistant Professor

Kongju National University (KNU)

Department of Mechanical & Automotive Engineering

2025. 04. – 2025. 08.

Postdoctoral Researcher

KAIST

Mechanical Engineering Research Institute · MORIN Lab (Prof. Jinwhan Kim)

2025. 02.

Ph.D., Mechanical Engineering

KAIST

Thesis: Safety-Enhanced Model Predictive Control for Autonomous Surface Vehicle

2020. 02.

M.S., Mechanical Engineering

KAIST

Thesis: Stochastic Model Predictive Control for Motion Control of an Unmanned Underwater Vehicle

2018

B.S., Mathematics & Mechanical Engineering

Hanyang University · Double major · Summa Cum Laude

Awards

2024

Outstanding Paper Award, Korea Robotics Society Annual Conference KRoC

2022

Outstanding Student Presentation, 9th SJTU-KAIST-UTokyo Joint Academic Symposium

2020

Outstanding Student Paper Presentation, Korean Society of Ocean Engineers KSOE

Academic Services (Reviewer)

Journal

  • IEEE/ASME Transactions on Mechatronics TMECH
  • IEEE Transactions on Control Systems Technology TCST
  • IEEE Transactions on Intelligent Transportation Systems T-ITS
  • IEEE Transactions on Industrial Electronics TIE
  • IEEE Control Systems Letters L-CSS
  • IEEE Robotics and Automation Letters RA-L
  • Robotics and Autonomous Systems RAS
  • Journal of Field Robotics JFR
  • International Journal of Naval Architecture and Ocean Engineering IJNAOE
  • Journal of Aerospace Information Systems JAIS
  • Intelligent Service Robotics ISR
  • Nonlinear Dynamics NODY
  • The Journal of Korea Robotics Society JKROS

Conference

  • IEEE Conference on Decision and Control CDC
  • IFAC World Congress IFAC WC (2023, 2026)
  • IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles CAMS
  • International Conference on Control, Automation and Systems ICCAS
  • Modeling, Estimation and Control Conference MECC 2025
  • IEEE International Conference on Ubiquitous Robots UR 2026

Members

Professor

Changyu Lee
Changyu Lee이찬규
Assistant Professor
Joined 2025.09

Graduate Students

— Recruiting —

Undergraduate Students

Jaemin Im임재민
Undergraduate
Joined 2026.03
Jaemin Yu유재민
Undergraduate
Joined 2026.01
Minji Woo우민지
Undergraduate
Joined 2026.09
← Members

Jaemin Im 임재민

Jaemin Im

Undergraduate Student

임재민

Division of Mechanical and Automotive Engineering
Kongju National University

lim78781@smail.kongju.ac.kr

Education

2026. 03. – Present

Undergraduate Researcher, SAIL

Kongju National University

In progress

B.S., Mechanical and Automotive Engineering

Kongju National University

Research Interests

  • Safe trajectory planning for mobile robots
  • Control barrier functions (CBF)
  • Rapidly-exploring random trees (RRT)
  • Physical AI on real platforms

Publications

아직 등록된 논문이 없습니다.

← Members

Jaemin Yu 유재민

Jaemin Yu

Undergraduate Student

유재민

Division of Mechanical and Automotive Engineering
Kongju National University

yjm011112@smail.kongju.ac.kr

Education

2026. 01. – Present

Undergraduate Researcher, SAIL

Kongju National University

In progress

B.S., Mechanical and Automotive Engineering

Kongju National University

Research Interests

  • Adaptive control barrier functions
  • Path tracking and obstacle avoidance
  • Safe control of mobile robots

Publications

  • 유재민, 이찬규*, "효율적인 경로 추종 및 장애물 회피를 위한 적응형 제어 장벽 함수," 제어로봇시스템학회 학술대회 ICROS, 2026.
← Members

Minji Woo 우민지

Minji Woo

Undergraduate Student

우민지

Department of Future Automotive Engineering
Kongju National University

mjwoo@smail.kongju.ac.kr

Education

2026. 09. – Present

Undergraduate Researcher, SAIL

Kongju National University

In progress

B.S., Future Automotive Engineering

Kongju National University

Publications

아직 등록된 논문이 없습니다.

Publications

* : Corresponding author

Last updated: 2026. 09. 18.

Selected Journals

IEEE Transactions on Control Systems Technology TCST

IEEE/ASME Transactions on Mechatronics TMECH

The International Journal of Robotics Research IJRR

Journal of Field Robotics JFR

IEEE Robotics and Automation Letters RA-L

  • Kiyong Park, Jinwhan Kim*, Changyu Lee, Dong-Hoon Kim, Woong-Ki Lee, Ji-Wan Kim, Jun-Hyuk Choi, "Safe Cradle Recovery of an Underactuated USV: Control System Design and Model-Scale Experimental Validation", Submitted. Project page
  • Changyu Lee*, Byungkwan Lee, Kanghoon Yoon, "Imitation Learning of Avoidance Modes for Computationally Efficient Multimodal Model Predictive Control", In Prep. (Collaboration with NVIDIA) Project page
  • Changyu Lee*, "Three-Dimensional Turning-Circle Control Barrier Function for Obstacle Avoidance of Unmanned Underwater Vehicles", Under Review.
  • Changyu Lee*, "Reducing Conservatism in Robust Quadrotor Trajectory Planning via Cascade Tube-based Model Predictive Control", Under Review.
  • Hieu Quang Do, Changyu Lee, Quoc Van Tran*, "Safety-Critical NMPC Formation Navigation of Fully Actuated Aerial Vehicles on SE(3) with Energy-Augmented Zeroing Control Barrier Functions", Submitted.
  • Changyu Lee*, "Multimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Function", Under Review. Project page
  • Changyu Lee*, "Safe Waypoint Tracking and Obstacle Avoidance for Surface Vehicles using Tube-based MPC", Under Review.
  • Kiyong Park, Changyu Lee, Jinwhan Kim*, "Model Predictive Control with Actuation Dead-Time Compensation for Trajectory Tracking of Autonomous Surface Vessels", Under Revision.
  • Jinwook Park, Changyu Lee, Jinwhan Kim*, "Robust Collision Avoidance for Autonomous Ships with Enhanced COLREGs Compliance Using Hamilton-Jacobi Reachability", Under Revision.
  • Yeongha Shin, Changyu Lee, Jinwhan Kim*, "MARQA: LLM-Based Question Answering for Negotiation-Capable Autonomous Ship Navigation", Under Revision. Project page

Lecture

2026 Fall

2026 Fall

미래첨단기술의이해 I

Undergraduate

실습 시뮬레이터
2026 Fall

메카트로닉스

Undergraduate

실습 시뮬레이터
2026 Fall

기계진동학

Undergraduate

실습 시뮬레이터

2026 Spring

2026 Spring

기전공학기초

Undergraduate

2026 Spring

딥러닝 기계학습

Undergraduate

2025 Fall

2025 Fall

로봇공학특론

Graduate

2025 Fall

메카트로닉스

Undergraduate

2025 Fall

생산공정설계

Undergraduate

Notes

Notes

MPC

Model Predictive Control

설명 보기
Notes

Autonomous Vehicle

학부연구생 온보딩

설명 보기
← Lecture

미래첨단기술의이해 I

학부 강의 실습용 시뮬레이터입니다. 아래 버튼으로 하나를 골라 조작할 수 있습니다.

LOS 유도

eψ heading PID · Δ · Racc

← Lecture

메카트로닉스

센서·필터·모델링 실습용 데모입니다. 강의를 고른 뒤 시뮬레이터를 조작할 수 있습니다.

← Lecture

기계진동학

강의별 인터랙티브 데모입니다. 강의를 고른 뒤 시뮬레이터를 조작할 수 있습니다.

← Lecture

MPC

모델예측제어 · 학기·연도와 무관한 설명 노트. 강의를 고른 뒤 본문을 읽습니다.

← Lecture

Autonomous Vehicle

학부연구생 온보딩 튜토리얼 · 강의를 고른 뒤 본문을 읽고, 코드는 GitHub에서 실행합니다.

Gallery

2026 IFAC World Congress IFAC

IFAC World Congress 2026, Busan
IFAC 2026 presentation: Efficient COLREGs-Compliant Collision Avoidance
IFAC World Congress 2026 session

2026 제어로봇시스템학회 ICROS

ICROS 2026
ICROS 2026
ICROS 2026

2025 대한기계학회 추계학술대회 KSME

KSME 2025
KSME 2025
KSME 2025

2025 수중수상로봇기술연구회 추계학술대회 USURT

USURT 2025

Contact

Prof. Changyu Lee

leeck@kongju.ac.kr

041-521-9248

Office Engineering Building #1, 609
Student lab Engineering Building #4, 112 (4공학관 112호)
1223-24, Cheonan-daero, Seobuk-gu, Cheonan-si, Chungcheongnam-do, Republic of Korea

© 2026 SAIL, Kongju National University.