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Dongjae Lee

Postoctoral Researcher
LeCAR (co-advisor: Prof. Guanya Shi)
AirLab (co-advisor: Prof. Sebastian Scherer)
Robotics Institute, Carnegie Mellon University

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Robust/Adaptive Control

Related 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
    Paper | Video

Journal Articles

  1. 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
    The International Journal of Robotics Research (IJRR) 2025. (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. 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
  4. 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
  5. 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
  6. 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

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)
    Paper
  2. 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