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Dongjae Lee

Ph.D. Candidate
Lab for Autonomous Robotics Research (LARR) (advisor: Prof. H. Jin Kim)
Department of Aerospace Engineering, Seoul National University

Visiting Ph.D. Student
Distributed Hybrid Systems Group (advisor: Prof. Dimos Dimarogonas)
Division of Decision and Control Systems, KTH Royal Institute of Technology

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Publications * equal contribution / highlight 1st-authored papers

Manuscripts under review / in preparation

  1. Aerial physical interaction with robust stability guarantee against sudden collision and contact‑loss
    Aerial physical interaction with robust stability guarantee against sudden collision and contact‑loss
    D. Lee, J. Byun, and H. J. Kim
    under review (journal submission)
    Paper | Video
  2. Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
    Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
    D. Lee*, B. Kim*, and H. J. Kim
    under review (journal submission)
    Video
  3. Event-Triggered Switching Control for Multi-Agent Pushing Manipulation with Contact Changes
    Event-Triggered Switching Control for Multi-Agent Pushing Manipulation with Contact Changes
    D. Lee, D. V. Dimarogonas, and H. J. Kim
    in preparation
  4. Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
    Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
    J. Byun, Y. Kim, D. Lee, and H. J. Kim
    under review (conference submission)

Journal Articles

  1. The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation
    The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation
    G. Park, H. Park, W. Park, D. Lee, M. Kim, and S. J. Lee
    IEEE Robotics and Automation Letters (R-AL), 2024. (accepted)
    Paper | Video
  2. Autonomous Heavy Object Pushing Using a Coaxial Tiltrotor
    Autonomous Heavy Object Pushing Using a Coaxial Tiltrotor
    S. Hwang*, D. Lee*, C. Kim, and H. J. Kim
    IEEE Transactions on Automation Science and Engineering (T-ASE), 2024. (accepted)
    Paper | Video
  3. Autonomous excavator for precise earthcutting and onboard landscape inspection
    Autonomous excavator for precise earthcutting and onboard landscape inspection
    I. Jang*, J. Kim*, D. Lee*, C. Kim*, C. Oh, Y. Kim, S. Woo, H. Sung, and H. J. Kim
    IEEE Robotics and Automation Magazine (RAM), 2024. (accepted)
    Paper | Video
  4. Image‑Based Time‑Varying Contact Force Control of Aerial Manipulator using Robust Impedance Filter
    Image‑Based Time‑Varying Contact Force Control of Aerial Manipulator using Robust Impedance Filter
    J. Byun, J. Kim, D. Eom, D. Lee, C. Kim, and H. J. Kim
    IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 5, pp. 4854-4861, April 2024.
    Paper | Video
  5. Design, Modeling and Control of a Top‑loading Fully‑Actuated Cargo Transportation Multirotor
    Design, Modeling and Control of a Top‑loading Fully‑Actuated Cargo Transportation Multirotor
    W. Park, X. Wu, D. Lee, and S. J. Lee
    IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 9, pp. 5807-5814, July 2023.
    Paper | Video
  6. A hybrid controller enhancing transient performance for an aerial manipulator extracting a wedged object
    A hybrid controller enhancing transient performance for an aerial manipulator extracting a wedged object
    J. Byun, I. Jang, D. Lee, and H. J. Kim
    IEEE Transactions on Automation Science and Engineering (T-ASE), 2023. (in press)
    Paper | Video
  7. RISE‑based trajectory tracking control of an aerial manipulator under uncertainty
    RISE‑based trajectory tracking control of an aerial manipulator under uncertainty
    D. Lee, J. Byun, and H. J. Kim
    IEEE Control Systems Letters (L-CSS), pp. 3379-3384, June 2022.
    Paper | Video
  8. Aerial manipulator pushing a movable structure using a DOB-based robust controller
    Aerial manipulator pushing a movable structure using a DOB-based robust controller
    D. Lee, H. Seo, I. Jang, S. J. Lee, and H. J. Kim
    IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 723-730, April 2021.
    ICRA 2021 Best Paper Award on Unmanned Aerial Vehicles
    Paper | Video
  9. Fully actuated autonomous flight of thruster-tilting multirotor
    Fully actuated autonomous flight of thruster-tilting multirotor
    S. J. Lee, D. Lee, J. Kim, D. Kim, I. Jang, and H. J. Kim
    IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 26, no. 2, pp. 765-776, April 2021.
    Paper | Video

Peer-Reviewed Conference Papers

  1. Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
    Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
    D. Lee, and H. J. Kim
    2024 International Conference On Unmanned Aricraft Systems (ICUAS) (accepted)
    Paper
  2. Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
    Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
    D. Lee, S. Hwang, J. Byun, S. J. Lee, and H. J. Kim
    2024 IEEE International Conference on Robotics and Automation (ICRA) (accepted)
    Paper | Video
  3. Safety‑Critical Control under Multiple State and Input Constraints and Application to Fixed‑Wing UAV
    Safety‑Critical Control under Multiple State and Input Constraints and Application to Fixed‑Wing UAV
    D. D. Oh*, D. Lee*, and H. J. Kim
    2023 IEEE Conference on Decision and Control (CDC)
    Paper
  4. Minimally actuated tiltrotor for perching and normal force exertion
    Minimally actuated tiltrotor for perching and normal force exertion
    D. Lee, S. Hwang, C. Kim, S. J. Lee, and H. J. Kim
    2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Paper | Video
  5. Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator
    Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator
    B. Kim, D. Lee, J. Byun, and H. J. Kim
    2023 IEEE International Conference on Robotics and Automation (ICRA)
    Paper | Video
  6. Real-time motion planning of a hydraulic excavator using trajectory optimization and model predictive control
    Real-time motion planning of a hydraulic excavator using trajectory optimization and model predictive control
    D. Lee*, I. Jang*, J. Byun, H. Seo, and H. J. Kim
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Paper | Video
  7. Robust and recursively feasible real-time trajectory planning in unknown environments
    Robust and recursively feasible real-time trajectory planning in unknown environments
    I. Jang, D. Lee, S. Lee, and H. J. Kim
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Paper | Video
  8. Stability and robustness analysis of plug-pulling using an aerial manipulator
    Stability and robustness analysis of plug-pulling using an aerial manipulator
    J. Byun, D. Lee, H. Seo, I. Jang, J. Choi, and H. J. Kim
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Paper | Video
  9. Provably safe real-time receding horizon trajectory planning for linear time-invariant systems
    Provably safe real-time receding horizon trajectory planning for linear time-invariant systems
    I. Jang, D. Lee, and H. J. Kim
    2020 20th International Conference on Control, Automation and Systems (ICCAS)
    ICCAS 2020 Outstanding Paper Award
    Paper
  10. Aerial manipulation using model predictive control for opening a hinged door
    Aerial manipulation using model predictive control for opening a hinged door
    D. Lee, H. Seo, D. Kim, and H. J. Kim
    2020 IEEE International Conference on Robotics and Automation (ICRA)
    Paper | Video
  11. Trajectory planning with safety guaranty for a multirotor based on the forward and backward reachability analysis
    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
    2020 IEEE International Conference on Robotics and Automation (ICRA)
    Paper | Video
  12. Cargo transportation strategy using T 3‑Multirotor UAV
    Cargo transportation strategy using T 3‑Multirotor UAV
    S. J. Lee, D. Lee, and H. J. Kim
    2019 IEEE International Conference on Robotics and Automation (ICRA)
    Paper