Safety-Critical Control

Related Publications * equal contribution

1. 
   Safe Multimodal Replanning via Projection-based Trajectory Clustering in Crowded Environments

   Y. Lim, S. Jung, D. Kim, D. Lee, and H. J. Kim

   IEEE Robotics and Automation Letters (RAL), 2026

   Paper· Video
2. 
   Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment

   J. Byun, Y. Kim, D. Lee, and H. J. Kim

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

   Paper· Video
3. 
   Safety‑Critical Control under Multiple State and Input Constraints and Application to Fixed‑Wing UAV

   D. D. Oh*, D. Lee*, and H. J. Kim

   In 2023 IEEE Conference on Decision and Control (CDC), 2023

   Paper
4. 
   Robust and recursively feasible real-time trajectory planning in unknown environments

   I. Jang, D. Lee, S. Lee, and H. J. Kim

   In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

   Paper· Video
5. 
   Provably safe real-time receding horizon trajectory planning for linear time-invariant systems

   I. Jang, D. Lee, and H. J. Kim

   In 2020 20th International Conference on Control, Automation and Systems (ICCAS), 2020

   ICCAS 2020 Outstanding Paper Award

   Paper
6. 
   Trajectory planning with safety guaranty for a multirotor based on the forward and backward reachability analysis

   H. Seo, C. Y. Son, D. Lee, and H. J. Kim

   In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020

   Paper· Video