Conference Papers | Publications

International 1

2026

October 2026 · International · Presentation scheduled · International Conference on Control, Automation and Systems (ICCAS 2026) · Conference paper · Poster presentation

Failure-Aware LLM-DWA Replanning for Mobile Robot Navigation in Dynamic Obstacle Environments

Dabin Kim, Youngmin Lee, Jeonghee Seo, Andrew Jaeyong Choi+

This study evaluates failure-aware LLM-DWA replanning in a simulated maze with three moving obstacles. The proposed method achieved the highest observed navigation success rate among the tested configurations, reaching the goal in 5/10 trials compared with 1/10 for one-shot LLM-DWA and 0/10 for NavFn-DWA and both periodic replanning baselines. Ablation experiments further examined how trigger timing, contact-based replanning, and LLM temperature affect navigation outcomes.

* Dabin Kim and Youngmin Lee are co-first authors.

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Domestic 1

2026

June 2026 · Domestic · Presented · IEIE 2026 Summer Annual Conference · Conference paper · Poster presentation

Failure-Aware LLM-DWA Replanning for Mobile Robot Navigation

Dabin Kim, Youngmin Lee, Andrew Jaeyong Choi+

Failure-aware LLM-DWA achieved a 100% navigation success rate across 20 trials in a simulated static U-shaped obstacle environment. It matched the best-performing periodic replanning baseline’s success rate while requiring fewer LLM calls in the representative runs reported in the paper.

* Dabin Kim and Youngmin Lee are co-first authors.

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