Journal Publications
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments [RA-L/IROS’25]
Authors: Taekyung Kim, Dimitra Panagou
2025
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control [RA-L/ICRA’24]
Authors: Hojin Lee*, Taekyung Kim*, Jungwi Mun, Wonsuk Lee
2023
Self-Supervised 3D Traversability Estimation with Proxy Bank Guidance [IEEE Access]
Authors: Jihwan Bae*, Junwon Seo*, Taekyung Kim, Hae-gon Jeon, Kiho Kwak, Inwook Shim
2023
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environments [RA-L/IROS’23]
Authors: Junwon Seo*, Taekyung Kim*, Kiho Kwak, Jihong Min, Inwook Shim
2023
Smooth Model Predictive Path Integral Control without Smoothing [RA-L/IROS‘22]
Authors: Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee
2022
TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics [RA-L/IROS’22]
Authors: Taekyung Kim*, Hojin Lee*, Seongil Hong, Wonsuk Lee
2022
An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm [IEEE Access]
Authors: Taekyung Kim*, Seunghyun Lim*, Gwanjun Shin, Geonhee Sim, Dongwon Yun
2022
Curriculum Learning for Vehicle Lateral Stability Estimations [IEEE Access]
Authors: Jihwan Bae*, Taekyung Kim*, Wonsuk Lee, Inwook Shim
2021
Improved Environment Recognition Algorithms for Autonomous Vehicle Control [Journal of Auto-vehicle Safety Association]
Authors: Inhwan Bae*, Yeonghoo Kim*, Taekyung Kim*, et al.
2019
Peer Reviewed Conference Publications
How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane [CDC’25]
Authors: Taekyung Kim, Randal W. Beard, Dimitra Panagou
2025
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions [IROS’25]
Authors: Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
2025
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift [RSS’25]
Authors: Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
2025
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions [ICRA’25 Workshop on Robot Safety Under Uncertainty from Intangible Specifications]
Authors: Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
2025
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation [ICRA’25]
Authors: Taekyung Kim, Robin Inho Kee, Dimitra Panagou
2025
METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation [IROS’24]
Authors: Junwon Seo, Taekyung Kim, Seongyong Ahn, Kiho Kwak
2024
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics [RSS’23]
Authors: Taekyung Kim*, Jungwi Mun*, Junwon Seo, Beomsu Kim, Seongil Hong
2023
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception [RSS’23 Workshop on Inference and Decision Making for Autonomous Vehicles (IDMAV)]
Authors: Junwon Seo, Jungwi Mun, Taekyung Kim
2023
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features [IROS’22]
Authors: Taekyung Kim*, Hojin Lee*, Wonsuk Lee
2022
Selected Conference Posters and Presentations
Convex Optimization based Robust Optimal Control for Autonomous Vehicle [Institute of Control, Robotics and Systems (ICROS)] Best Paper Award (Top 2.17 %)
Authors: Seongil Hong, Gyuhyun Park, Taekyung Kim, Jungwi Mun
2022
Trajectory Planning for Autonomous Driving with Path Integral Control Using Pre-optimized Prior [Asian Control Conference (ASCC)]
Authors: Yongjae Kim, Wonsuk Lee, Taekyung Kim, Jungwi Mun
2022
Works Under Review
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Authors: Hardik Parwana, Taekyung Kim, Kehan Long, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Dimitra Panagou
2025
Safe Model Predictive Diffusion with Shielding
Authors: Taekyung Kim, Keyvan Majd, Hideki Okamoto, Bardh Hoxha, Dimitra Panagou, Georgios Fainekos
2025
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
Authors: Hun Kuk Park*, Taekyung Kim*, Dimitra Panagou
2025
Safe Model Predictive Path Integral with Signal Temporal Logic
Authors: Yiqi Zhao, Taekyung Kim, Hideki Okamoto, Bardh Hoxha, Jyotirmoy V. Deshmukh, Lars Lindemann, Georgios Fainekos
2025