Dongjae Lee

Publications * equal contribution / highlight 1st-authored papers

Manuscripts under review / in preparation

1. 

   Autonomous Heavy Object Pushing Using a Coaxial Tiltrotor
   S. Hwang*, D. Lee*, C. Kim, and H. J. Kim
   submitted to T-ASE
2. 

   Aerial physical interaction with robust stability guarantee against sudden collision and contact‑loss
   D. Lee, J. Byun, and H. J. Kim
   submitted to T-RO
3. 

   The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation
   G. Park, H. Park, W. Park, D. Lee, and S. J. Lee
   submitted to RA-L
4. 

   Robust Omnidirectional Aerial Manipulation with Enlarged Workspace
   D. Lee*, B. Kim*, and H. J. Kim
   submitted to T-RO

Journal Articles

1. 

   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)
   Video
2. 

   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
3. 

   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
4. 

   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
5. 

   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
6. 

   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
7. 

   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
   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
   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
   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
   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
   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
   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
   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
   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
   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
    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
    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
    S. J. Lee, D. Lee, and H. J. Kim
    2019 IEEE International Conference on Robotics and Automation (ICRA)
    Paper