Journal Publications
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments [RA-L/IROS 2025]
Authors: Taekyung Kim, Dimitra Panagou
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control [RA-L/ICRA 2024]
Authors: Hojin Lee*, Taekyung Kim*, Jungwi Mun, Wonsuk Lee
Self-Supervised 3D Traversability Estimation with Proxy Bank Guidance [IEEE Access 2023]
Authors: Jihwan Bae*, Junwon Seo*, Taekyung Kim, Hae-gon Jeon, Kiho Kwak, Inwook Shim
ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environments [RA-L/IROS 2023]
Authors: Junwon Seo*, Taekyung Kim*, Kiho Kwak, Jihong Min, Inwook Shim
Smooth Model Predictive Path Integral Control without Smoothing [RA-L/IROS 2022]
Authors: Taekyung Kim, Gyuhyun Park, Kiho Kwak, Jihwan Bae, Wonsuk Lee
TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics [RA-L/IROS 2022]
Authors: Taekyung Kim*, Hojin Lee*, Seongil Hong, Wonsuk Lee
An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm [IEEE Access 2022]
Authors: Taekyung Kim*, Seunghyun Lim*, Gwanjun Shin, Geonhee Sim, Dongwon Yun
Curriculum Learning for Vehicle Lateral Stability Estimations [IEEE Access 2021]
Authors: Jihwan Bae*, Taekyung Kim*, Wonsuk Lee, Inwook Shim
Improved Environment Recognition Algorithms for Autonomous Vehicle Control [Journal of Auto-vehicle Safety Association 2019]
Authors: Inhwan Bae*, Yeonghoo Kim*, Taekyung Kim*, et al.
Peer Reviewed Conference Publications
Safe Model Predictive Diffusion with Shielding [ICRA 2026]
Authors: Taekyung Kim, Keyvan Majd, Hideki Okamoto, Bardh Hoxha, Dimitra Panagou, Georgios Fainekos
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions [ICRA 2026] Oral (Top 8.27 %)
Authors: Hun Kuk Park*, Taekyung Kim*, Dimitra Panagou
How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane [CDC 2025]
Authors: Taekyung Kim, Randal W. Beard, Dimitra Panagou
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions [IROS 2025]
Authors: Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift [RSS 2025]
Authors: Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions [ICRA 2025 Workshop on Robot Safety Under Uncertainty from Intangible Specifications]
Authors: Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation [ICRA 2025]
Authors: Taekyung Kim, Robin Inho Kee, Dimitra Panagou
METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation [IROS 2024]
Authors: Junwon Seo, Taekyung Kim, Seongyong Ahn, Kiho Kwak
Bridging Active Exploration and Uncertainty-Aware Deployment Using Probabilistic Ensemble Neural Network Dynamics [RSS 2023]
Authors: Taekyung Kim*, Jungwi Mun*, Junwon Seo, Beomsu Kim, Seongil Hong
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception [RSS 2023 Workshop on Inference and Decision Making for Autonomous Vehicles (IDMAV)]
Authors: Junwon Seo, Jungwi Mun, Taekyung Kim
Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features [IROS 2022]
Authors: Taekyung Kim*, Hojin Lee*, Wonsuk Lee
Selected Conference Posters and Presentations
Convex Optimization based Robust Optimal Control for Autonomous Vehicle [Institute of Control, Robotics and Systems (ICROS) 2022] Best Paper Award (Top 2.17 %)
Authors: Seongil Hong, Gyuhyun Park, Taekyung Kim, Jungwi Mun
Trajectory Planning for Autonomous Driving with Path Integral Control Using Pre-optimized Prior [Asian Control Conference (ASCC) 2022]
Authors: Yongjae Kim, Wonsuk Lee, Taekyung Kim, Jungwi Mun
Works Under Review
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field [2025]
Authors: Hardik Parwana, Taekyung Kim, Kehan Long, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Dimitra Panagou
Safe Model Predictive Path Integral with Signal Temporal Logic [2026]
Authors: Yiqi Zhao, Taekyung Kim, Hideki Okamoto, Bardh Hoxha, Jyotirmoy V. Deshmukh, Lars Lindemann, Georgios Fainekos
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts [2026]
Authors: Taekyung Kim, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions [2026]
Authors: Taekyung Kim
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper [2026]
Authors: Taekyung Kim, Aswin D. Menon, Akshunn Trivedi, Dimitra Panagou
Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions [2026]
Authors: Xinyi Wang, Taekyung Kim, Bardh Hoxha, Georgios Fainekos, Dimitra Panagou
Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach [2026]
Authors: Daniel M. Cherenson*, Haejoon Lee*, Taekyung Kim, Dimitra Panagou